NRI: FND: 3D Concrete Printing with Macro-Micro Robots

NRI：FND：使用宏观-微观机器人进行 3D 混凝土打印

• 批准号: 1924721
• 负责人: Ian Walker
• 金额: $ 74.17万
• 依托单位: Clemson University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-08-01 至 2023-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1924721&HistoricalAwards=false
• 关键词: NRI; FND; 3D; Concrete; Printing

The construction industry is a critical element of the US economy, but construction remains one of the least automated and lowest productivity industries in the world. Much construction activity is low-tech, injury-prone and dependent on semi-skilled labor. Within the industry, the pouring of concrete is a pervasive process. This award supports research in robotic systems for pouring concrete. The research will generate the fundamental knowledge required to design robots which can pour concrete with greater efficiency and precision than current manual methods, while working intimately and safely with human workers. The multidisciplinary research will be conducted by a diverse group of graduate and undergraduate students that includes women and underrepresented minority students. The resulting robot systems will be lightweight, widely deployable, low-cost, and inherently safe. Therefore, results from this research will improve work flow, enhance build quality, support workers, and enhance the competitiveness of the US construction industry.The concrete deployment robot system will be based on a new cable-driven macro/micro design, featuring an under-actuated cable robot as the macro unit, with a cable-driven continuum robot, integrated with the concrete delivery hose, as the micro unit. The macro-micro system represents a significant innovation in cable-actuated co-robots. Coordination of the dual system presents new and challenging problems in the control of interconnected dynamical systems subject to differential-algebraic constraints and the research will generate the fundamental knowledge required to solve the associated problems. The need for the robot to safely and robustly assist human coworkers further motivates an innovative data-driven methodology for providing situational awareness of the dynamic construction environment. The focus on dexterous concrete pouring represents a quantum leap for civil engineering in enabling additive 3D printing of concrete structures with enhanced functionalities, and the related fundamental materials research will yield new understanding of the most suitable concrete formulations for robotic deployment.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

建筑业是美国经济的重要组成部分，但建筑业仍然是世界上自动化程度最低、生产率最低的行业之一。许多建筑活动是低技术含量的，容易受伤，并且依赖于半熟练的劳动力。在行业内，混凝土浇筑是一个普遍的过程。该奖项支持混凝土浇筑机器人系统的研究。这项研究将产生设计机器人所需的基础知识，这些机器人可以比目前的人工方法更高效、更精确地浇筑混凝土，同时与人类工人密切合作，更安全地工作。这项多学科研究将由研究生和本科生组成的不同群体进行，其中包括女性和代表性不足的少数民族学生。由此产生的机器人系统将是轻量级的、可广泛部署的、低成本的，并且本质上是安全的。因此，本研究的结果将改善工作流程，提高建筑质量，支持工人，提高美国建筑业的竞争力。混凝土部署机器人系统将基于一种新的电缆驱动的宏/微设计，以欠驱动电缆机器人为宏观单元，以电缆驱动连续体机器人为微观单元，与混凝土输送软管集成。宏微观系统是缆索驱动协同机器人的重大创新。对偶系统的协调在微分代数约束下的相互关联动力系统的控制中提出了新的和具有挑战性的问题，研究将产生解决相关问题所需的基础知识。机器人需要安全可靠地协助人类同事，这进一步激发了一种创新的数据驱动方法，以提供动态建筑环境的态势感知。对灵巧混凝土浇筑的关注代表了土木工程的一个巨大飞跃，使混凝土结构的增材3D打印具有增强的功能，相关基础材料的研究将产生对机器人部署最合适的混凝土配方的新理解。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

Reinforcement Learning Control of a Reconfigurable Planar Cable Driven Parallel Manipulator

可重构平面电缆驱动并联机械臂的强化学习控制

• DOI: 10.1109/icra48891.2023.10160498
• 发表时间: 2023
• 期刊: 2023 IEEE International Conference on Robotics and Automation (ICRA2023
• 作者: Raman, Adhiti;Salvi, Ameya;Schmid, Matthias;Krovi, Venkat
• 通讯作者: Krovi, Venkat

Wrench Analysis of Kinematically Redundant Planar CDPRs

• DOI: 10.1007/978-3-030-75789-2_8
• 发表时间: 2021
• 作者: Adhiti Raman;Matthias J. Schmid;V. Krovi

Stiffness Modulation for a Planar Mobile Cable-Driven Parallel Manipulators via Structural Reconfiguration

通过结构重构对平面移动电缆驱动并联机械手进行刚度调制

• DOI: 10.1115/detc2020-22430
• 发表时间: 2020
• 期刊: ASME 2020 International Design Engineering Technical Conferences and Computers in Engineering Conferences
• 作者: Raman, Adhiti;Schmid, Matthias;Krovi, Venkat
• 通讯作者: Krovi, Venkat

Modeling and Design Optimization of Robotic Hoses for 3D Printing of Cement

用于水泥 3D 打印的机器人软管的建模和设计优化

• 发表时间: 2020
• 期刊: ASME International Mechanical Engineering Congress and Exposition (IMECE
• 作者: Sterckx, P;Walker, I.D.
• 通讯作者: Walker, I.D.

A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective

轮式移动操纵的调查：决策视角

• DOI: 10.1115/1.4054611
• 发表时间: 2023
• 期刊: Journal of Mechanisms and Robotics
• 作者: Thakar, Shantanu;Srinivasan, Srivatsan;Al-Hussaini, Sarah;Bhatt, Prahar M.;Rajendran, Pradeep;Jung Yoon, Yeo;Dhanaraj, Neel;Malhan, Rishi K.;Schmid, Matthias;Krovi, Venkat N.
• 通讯作者: Krovi, Venkat N.