Fully functional model of the control system was created by authors. Based on analysis of existing approaches authors propose the solution for control system development for 3D-printer with gantry-type construction, which can move on rails. This article describes the development of control system of robotic complex for constructions and buildings printing. Such scenario may contribute to the onset of commonplace digital records of historical constructions in an open-source, versatile and reliable fashion. The results of the research show the great potential of these existing technologies that may help to promote a widespread and cost-efficient monitoring of the built cultural heritage. The results of the research include a simple case-study, which is presented with low-cost, open-source, calibrated components, as well as an assessment of different alternatives for deploying basic structural health monitoring arrangements. The objective of the study is to present an assessment of increasingly available open-source digital modeling and fabrication technologies in order to identify the suitable counterparts of the typical components of a continuous static monitoring system for a historical construction. This paper shows new possibilities of using novel, open-source, low-cost platforms for the structural health monitoring of heritage structures.
This study demonstrates the utility of using thermoplastic material with the fabrication of 3D printed parts used in EOATs. A motion of programmed trajectories was executed utilizing a standard 6-axis robot and the power consumption was evaluated.
Additionally, potential weight savings were identified and challenges with utilizing low cost FFF technologies are outlined. Three-point flexural tests were performed to determine the differences in strength and stiffness between varying polymers, infill ratios, and a standard metal part. The materials used in this research for the fabrication of the EOAT parts were Acrylonitrile butadiene styrene (ABS) and nylon with infill densities of 20% and 100%. This research furthers the practice of designing and manufacturing End of Arm Tooling (EOAT) by utilizing a low cost additive manufacturing Fused Filament Fabrication (FFF) technique to enable tool weight saving and provision of low cost EOATs on demand, thereby facilitating zero inventory lean manufacturing. Comparing with the initial optimization model in the first stage, the total weight of the components after multi-stage lightweight has been reduced by 23.37%, but the maximum stress of total manipulator only increased by 10.3Mpa, which shows the significant effect of lightweight. Finally, the palletizing manipulator with parallelogram leveling mechanism was taken as an example to apply proposed strategy. Secondly, the decomposition of decision task and the multi-stage lightweight decision based on structural performance influence knowledge were discussed. Some behavior routes, such as initial structural design, lightweight optimization combined with structural performance influence analysis and knowledge-guided lightweight optimization, were designed in this section.
The framework of knowledge-guided lightweight design with multiple behavior routes was constructed firstly. In order to better coordinate the structural performance with lightweight goal, multi-stage lightweight strategy based on structural performance influence analysis is proposed. The innovative design offering the best solution to increase productivity and accurate performance to perform various tasks such as pick and place and assembly. Based on trajectory planning, the efficiency of the proposed method is confirmed by motion case studies. A comparison results between the controlled and uncontrolled systems shows that the proposed controller resulted greatly minimized response time to be measured in the Microsecond unit. To improve speed performance, it is proposed a high speed proportional integral derivative controller based on an improved Genetic Algorithm by modifying the initialization fitness function to optimize proportional gains. It is used SimMechanics and SolidWorks as a tool for structural design and testing motion characteristics. The aim is to enhance speed performance by proposed multi techniques started from estimating the transfer function of each manipulated joint, then design controller for each DOF reached to modelling arm motion. This work reports the development of a handling 5 Degree of freedom (DOF) robot arm model for industrial application.
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