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A COMPREHENSIVE PERFORMANCE EVALUATION OF DIFFERENT MOBILE MANIPULATORS USED AS DISPLACEABLE 3D PRINTERS OF BUILDING ELEMENTS FOR THE CONSTRUCTION INDUSTRY

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dc.creatorRODRIGO HERNÁN GARCÍA ALVARADO
dc.date2020
dc.date.accessioned2025-01-10T15:14:32Z
dc.date.available2025-01-10T15:14:32Z
dc.date.issued2020
dc.description.abstractTHE CONSTRUCTION INDUSTRY IS CURRENTLY TECHNOLOGICALLY CHALLENGED TO INCORPORATE NEW DEVELOPMENTS FOR ENHANCING THE PROCESS, SUCH AS THE USE OF 3D PRINTING FOR COMPLEX BUILDING STRUCTURES, WHICH IS THE AIM OF THIS BRIEF. TO DO SO, WE SHOW A SYSTEMATIC STUDY REGARDING THE USABILITY AND PERFORMANCE OF MOBILE MANIPULATORS AS DISPLACEABLE 3D PRINTING MACHINERY IN CONSTRUCTION SITES, WITH EMPHASIS ON THE THREE MAIN DIFFERENT EXISTING MOBILE PLATFORMS: THE CAR-LIKE, THE UNICYCLE AND THE OMNIDIRECTIONAL (MECANUM WHEELED), WITH AN UR5 MANIPULATOR ON THEM. TO EVALUATE ITS PERFORMANCE, WE PROPOSE THE PRINTING OF THE FOLLOWING BUILDING ELEMENTS: HELICAL, SQUARE, CIRCULAR AND MESH, WITH DIFFERENT SIZES. AS METRICS, WE CONSIDER THE TOTAL CONTROL EFFORT OBSERVED IN THE ROBOTS AND THE TOTAL TRACKING ERROR ASSOCIATED WITH THE ENERGY CONSUMED IN THE ACTIVITY TO GET A MORE SUSTAINABLE PROCESS. IN ADDITION, TO FURTHER TEST OUR WORK, WE CONSTRAINED THE ROBOT WORKSPACE THUS RESEMBLING REAL LIFE CONSTRUCTION SITES. IN GENERAL, THE STATISTICAL RESULTS SHOW THAT THE OMNIDIRECTIONAL PLATFORM PRESENTS THE BEST RESULTS ?LOWEST TRACKING ERROR AND LOWEST CONTROL EFFORT? FOR CIRCULAR, HELICOIDAL AND MESH BUILDING ELEMENTS; AND CAR-LIKE PLATFORM SHOWS THE BEST RESULTS FOR SQUARE-LIKE BUILDING ELEMENT. THEN, AN INNOVATIVE PERFORMANCE ANALYSIS IS ACHIEVED FOR THE PRINTING OF BUILDING ELEMENTS, WITH A CONTRIBUTION TO THE REDUCTION OF ENERGY CONSUMPTION.
dc.formatapplication/pdf
dc.identifier.doi10.3390/su12114378
dc.identifier.issn2071-1050
dc.identifier.issn2071-1050
dc.identifier.urihttps://repositorio.ubiobio.cl/handle/123456789/11085
dc.languagespa
dc.publisherSustainability
dc.relation.uri10.3390/su12114378
dc.rightsPUBLICADA
dc.titleA COMPREHENSIVE PERFORMANCE EVALUATION OF DIFFERENT MOBILE MANIPULATORS USED AS DISPLACEABLE 3D PRINTERS OF BUILDING ELEMENTS FOR THE CONSTRUCTION INDUSTRY
dc.title.alternativeUNA EVALUACIÓN INTEGRAL DEL RENDIMIENTO DE DIFERENTES MANIPULADORES MÓVILES UTILIZADOS COMO IMPRESORAS 3D DESPLAZABLES DE ELEMENTOS DE CONSTRUCCIÓN PARA LA INDUSTRIA DE LA CONSTRUCCIÓN
dc.typeARTÍCULO
dspace.entity.typePublication
ubb.EstadoPUBLICADA
ubb.SedeCONCEPCIÓN
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