MAP - A Mobile Agile Printer Robot for on-site Construction
MAP - A Mobile Agile Printer Robot for on-site Construction
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DOI：
10.1109/iros.2018.8593815
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发表时间：
2018-10
期刊：
影响因子：
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通讯作者：
Julius Sustarevas;Daniel Butters;Mohammad Hammid;G. Dwyer;R. Stuart‐Smith;V. Pawar
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作者：
Julius Sustarevas;Daniel Butters;Mohammad Hammid;G. Dwyer;R. Stuart‐Smith;V. Pawar
本文提出了一种移动敏捷打印机（MAP）施工机器人；这是一种高度敏捷的四足全方位机器人，能够3D打印大型结构。为了克服在室外施工现场操作时的动态挑战，MAP将一个高自由度3D打印系统连接到一个具有新颖功能的移动平台，旨在抑制干扰并实时适应机器人的姿势。在这样做的过程中，我们展示了设计建筑机器人的好处，重点是灵活性，紧凑的工作体积和在潜在无限的工作空间内操作的能力。进行的性能测试表明，平滑的全方位运动是在大体积上保持低3D打印轨迹偏差的关键要求。在这样做的过程中，我们表明MAP具有以对其环境，背景和并发现场操作更敏感的新方式构建的能力。
In this paper, we present a Mobile Agile Printer (MAP) construction robot; a highly agile, 4-legged, omnidirectional robot capable of 3D printing large structures. To overcome dynamic challenges when operating within an outdoors construction site, MAP incorporates a high-DoF 3D printing system connected to a mobile platform with novel features designed to enable disturbance rejection and live adaption to the robot's pose. In doing so, we demonstrate the benefits of designing construction robots with a focus on agility, a compact working volume and ability to operate within a potentially unlimited workspace. Performance tests were conducted showing smooth omni-directional motion as a key requirement for maintaining low 3D printing trajectory deviations over a large volume. In doing so, we show that MAP has the ability to construct in new ways more sensitive to its environment, context and concurrent on-site operations.