Articulated Working Head Control for Precise Robotic Concrete Placement
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Solution Overview
Problem
Existing construction material working technologies face limitations in distance, material rheology, aggregate size, and accuracy due to the use of flexible hoses and hydraulic booms, leading to inefficiencies and high costs, and require multiple machines for different tasks, posing challenges in high-rise environments.
Innovation Solution
A robotic construction system with a controlled boom and articulated working head, utilizing a controller for dynamic stabilization and simultaneous movement of the boom and working head, allowing for precise manipulation of construction materials over smaller and larger distances, incorporating a robot arm and end effector, and a tracking system for real-time position correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a flexible rubber hose is used to deliver construction material, then the system is simple and easy to operate, but the pumping distance is limited and the pressure capability is low
Solution Approach 1:
The delivery system is segmented into a rigid boom structure with multiple sections that can be extended and articulated to reach distant locations, replacing the single flexible hose. The boom can be configured in Z-fold or roll-fold patterns to achieve both length and flexibility.
Solution Approach 2:
A rigid boom structure serves as an intermediary between the material source and the delivery point, enabling long-distance material transport while maintaining structural integrity and pressure capability that flexible hoses cannot provide.
2Device complexity
If a long flexible hose is used for material delivery, then the system is simple, but the material rheology and aggregate size are limited
Solution Approach 1:
The delivery system uses a rigid segmented boom structure that can accommodate larger aggregate sizes and varied material rheologies, overcoming the limitations of flexible hoses while maintaining operational simplicity through modular design.
3Length of moving object
If a hydraulically controlled boom is used, then the boom can move over large distances, but the boom structure bounces excessively and positioning accuracy is low
Solution Approach 1:
Sensors detect the actual position and movement of the boom, providing feedback to the control system which adjusts hydraulic actuation in real-time to minimize bouncing and achieve precise positioning, transforming the open-loop hydraulic system into a closed-loop controlled system.
Solution Approach 2:
The boom control system transitions from static hydraulic positioning to dynamic active control, where the hydraulic system continuously adjusts to counteract vibrations and achieve desired positioning accuracy while maintaining the ability to move over large distances.
4Strength
If a rigid boom structure is used, then the structural strength is high, but the natural frequency is low and the boom bounces excessively
Solution Approach 1:
The rigid boom structure is equipped with active damping control that dynamically counteracts vibrations and bouncing, transforming a statically unstable structure into a dynamically stable system that maintains both structural strength and vibration resistance.
Solution Approach 2:
Vibration sensors and control systems provide real-time feedback to actively dampen boom oscillations, allowing the rigid structure to maintain its strength while achieving operational stability by counteracting bouncing through controlled hydraulic or electromagnetic actuators.
5Adaptability or versatility
If multiple custom machines are used for different construction tasks, then each machine is optimized for its specific function, but the system complexity increases and mobility is reduced
Solution Approach 1:
A single robotic construction system is designed with interchangeable end effectors and programmable control, enabling it to perform multiple construction tasks such as screeding, finishing, and shaping, replacing multiple specialized machines while reducing overall system complexity and improving mobility.
Solution Approach 2:
The robotic system uses dynamic reconfiguration of its end effectors and control parameters to adapt to different construction tasks, transforming a static single-purpose machine into a dynamic multi-functional system that can switch between operations as needed.
Data Source
AI summary
A robotic construction system for use in constructing a structure, the construction system including a base, a boom extending from the base, an articulated working head attached proximate an end of the boom, the working head including a working member configured to work construction material and a controller configured to control movement of the boom and the working head to thereby move the working member and thereby work construction material, wherein the boom moves with a slower dynamic response over larger distances and the working head provides a faster dynamic response over smaller distances.