Delta Robot Offset Angles for 3D Concrete Printing Precision
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Solution Overview
Problem
Current 3-D printing systems for structural parts face challenges in achieving precise and efficient formation of building material strands, particularly in terms of positioning accuracy and accessibility, especially when dealing with materials like concrete and thixotropic substances.
Innovation Solution
A printing system comprising a delta robot with three robot arm devices offset at an oblique angle, combined with a coarse movement device, enables precise and fast formation of building material strands by compensating for positioning inaccuracies and providing good accessibility to the central axis, allowing for continuous or layered deposition of building material, such as concrete, without deforming existing layers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a coarse movement device is used for positioning the printing head, then the device complexity is reduced and ease of operation is improved, but positioning accuracy deteriorates
Solution Approach 1:
The positioning system is segmented into two independent subsystems: a coarse movement device for large-scale positioning and a parallel robot for fine positioning. This segmentation allows each subsystem to be optimized for its specific function, with the coarse device providing broad coverage and the parallel robot providing high precision, thereby resolving the contradiction between positioning accuracy and device complexity.
Solution Approach 2:
The patent combines the coarse movement device and the parallel robot into an integrated positioning system. The parallel robot is mounted on the coarse movement device, creating a hierarchical structure where the coarse device provides the base positioning and the parallel robot provides the precision adjustment. This merging allows the system to achieve high positioning accuracy without requiring the entire system to be complex.
2Ease of operation
If robot arm devices are arranged radially with small angles, then accessibility to the central axis is improved, but positioning accuracy deteriorates due to increased interference and reduced workspace
Solution Approach 1:
The patent employs an asymmetric arrangement of the parallel robot's limbs relative to the central axis, with robot arm devices positioned at specific non-uniform angles. This asymmetric configuration optimizes the workspace distribution and minimizes interference between limbs while maintaining good accessibility to the central axis, thereby resolving the contradiction between accessibility and positioning accuracy.
Solution Approach 2:
The patent extends the positioning problem from two-dimensional radial arrangement to three-dimensional spatial configuration. By utilizing vertical displacement and three-dimensional limb coordination, the system achieves both good central axis accessibility and high positioning accuracy, transforming the constraint from a 2D angular problem to a 3D spatial optimization problem.
3Productivity
If the printing head moves quickly to improve productivity, then productivity is improved, but positioning accuracy deteriorates
Solution Approach 1:
The patent implements a dynamic positioning system where the parallel robot can adapt its motion characteristics in real-time. The system uses dynamic motion planning and control to achieve fast positioning when accuracy requirements are less stringent and switches to precise, slower positioning when high accuracy is needed. This dynamic approach allows the system to optimize both productivity and positioning accuracy based on the specific operational requirements.
Solution Approach 2:
The patent ensures continuous positioning correction throughout the printing process. The parallel robot continuously adjusts the printing head position to compensate for deviations, maintaining positioning accuracy even during high-speed operation. This continuous correction enables the system to operate at high speeds without sacrificing precision, thereby resolving the contradiction between productivity and positioning accuracy.
Data Source
AI summary
A printing system for forming a strand of construction material for 3D printing of a construction part includes a printing head, a parallel robot, in particular a delta robot, and a coarse movement device. The printing head is designed to discharge construction material out of the printing system and to shape the construction material to form the strand of construction material. The parallel robot has at least three robot arm devices for fine positioning of the printing head with respect to the coarse movement device. At least the two closest of the robot arm devices are mutually offset in a circumferential direction about a central axis of the parallel robot by an obtuse arc angle. The coarse movement device is designed for a coarse movement of the parallel robot together with the printing head.