Title :

Robotisation de la fabrication additive de formes architecturales funiculaires à partir de matériaux de construction

Author(s) :

Lakhal, Othman [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Chettibi, Taha [Auteur]
Belarouci, Abdelkader [Auteur]
Dherbomez, Gerald [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Merzouki, Rochdi [Auteur]
LAGIS-MOCIS

Journal title :

IEEE/ASME Transactions on Mechatronics

Pages :

1-1

Publisher :

Institute of Electrical and Electronics Engineers

Publication date :

2020-02-17

ISSN :

1083-4435

English keyword(s) :

Mobile manipulator arm
Additive manufacturing AM
Kinematic Control
Quality Control

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Systèmes et contrôle [cs.SY]
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Automatique

English abstract : [en]

Additive manufacturing (AM) technology has been identified as one of the major digital innovations that has revolutionized not only the field of the industry but also the construction. From a research side, AM is a ...
Show more >Additive manufacturing (AM) technology has been identified as one of the major digital innovations that has revolutionized not only the field of the industry but also the construction. From a research side, AM is a multi-disciplinary domain, combining between materials science, mechatronics engineering and architectural design. The AM concept needs to consider the geometry and the shape of printed objects in regards of material properties and robot kinematics which are adaptable to the object size. In this paper, we present an integrated design and control of an omnidirectional Mobile Manipulator Robot (MMR), capable of extruding concrete and clay materials, to print complex and funicular architectural geometries. The studied robot allows printing building pieces with different shapes and sizes by additive deposit which can later be assembled on-site. The main issue concerns the control of continuous material deposit, with specified accuracy and respecting the desired shape. This problem involves to solve, in real-time, the non-linear kinematic model of a 10 Degrees of Freedom (DoF) heterogeneous robot. The kinematic model and the control of utilized MMR are discussed, and an optimization method based on quadratic programming is used for handling the robot redundancy. Finally, we present the experimental results to illustrate the efficiency of AM on the developed concept.Show less >

Language :

Anglais

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL