ROBOTIC ARM DESIGN, DEVELOPMENT AND CONTROL FOR PRINTING CEMENT MIXTURES

Abstract

New innovative approaches for building construction are being developed around the world. One of these is printing cement mixtures for which various machines are now being developed. This paper deals with the design of an experimental robotic arm for research into cement mixture printing. A generative design approach was used and discussed in its development. The results describe the solutions obtained using the generative design process together with the approach used to control the drives of the robotic arm. Finally, the benefits of using generative design in solving such a large and complex task are discussed based on our experience from this particular project.