Displacement Analysis of Large-Scale Robotic Arm for Printing Cement Mortar Using Photogrammetry

The development of specialised equipment for three-dimensional printing of cement mortar requires the deployment of advanced design methods. The accuracy of printing robotic arms is influenced by the change in the position of the end effector, which is influenced by the stiffness of the arm, or defo...

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Bibliographic Details
Published in:Machines (Basel) 2023-01, Vol.11 (1), p.37
Main Authors: Brousek, Josef, Petr, Tomas, Mendricky, Radomir
Format: Article
Language:English
Subjects:
3D printing
Accuracy
additive manufacturing
Axes of rotation
Cement
concrete printing
Design
displacement analysis
Displacement measurement
End effectors
Measurement methods
Methods
Mortars (material)
Photogrammetry
printing cement mixtures
R&D
Research & development
Robot arms
robotic arm
Robotics
Stiffness
Three dimensional printing
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Summary:The development of specialised equipment for three-dimensional printing of cement mortar requires the deployment of advanced design methods. The accuracy of printing robotic arms is influenced by the change in the position of the end effector, which is influenced by the stiffness of the arm, or deformation of parts of the arm and yielding in the place of rotation axes. Determining the actual change in the end effector position is often a difficult challenge. In this paper, we analysed the displacement on a large robotic arm by the non-contact optical photogrammetry method. We applied this method to a specialised 2.8 m long robotic arm SCARA with an added rotational axis. We compared the results from photogrammetry with the results from measurements with a mechanical deflection meter, and with the predicted displacement values from the FEM simulation. The results from both measurement methods showed maximum deviations of hundredths of a mm. The findings of the analysis thus indicate that photogrammetry meets the strict requirements for displacement measurement on a robotic arm for the 3D printing of cement mortar. A significant advantage of the method is the possibility of measuring almost all attainable arm positions and achieving results in hundreds of places.
ISSN:2075-1702
2075-1702
DOI:10.3390/machines11010037