| bibtype |
J -
Journal Article
|
| ARLID |
0552684 |
| utime |
20250310142444.5 |
| mtime |
20220202235959.9 |
| SCOPUS |
85123740799 |
| WOS |
000751476800001 |
| DOI |
10.1109/TASE.2021.3133138 |
| title
(primary) (eng) |
Structure Design and Solution of Kinematics of Robot Manipulator for 3D Concrete Printing |
| specification |
| page_count |
12 s. |
| media_type |
P |
|
| serial |
| ARLID |
cav_un_epca*0039780 |
| ISSN |
1545-5955 |
| title
|
IEEE Transactions on Automation Science and Engineering |
| volume_id |
19 |
| volume |
4 (2022) |
| page_num |
3723-3734 |
| publisher |
| name |
Institute of Electrical and Electronics Engineers |
|
|
| keyword |
Robot kinematics |
| keyword |
construction industry |
| keyword |
printing |
| keyword |
redundant systems |
| keyword |
robots |
| author
(primary) |
| ARLID |
cav_un_auth*0303190 |
| name1 |
Záda |
| name2 |
V. |
| country |
CZ |
|
| author
|
| ARLID |
cav_un_auth*0101064 |
| name1 |
Belda |
| name2 |
Květoslav |
| institution |
UTIA-B |
| full_dept (cz) |
Adaptivní systémy |
| full_dept |
Department of Adaptive Systems |
| department (cz) |
AS |
| department |
AS |
| full_dept |
Department of Adaptive Systems |
| share |
50 |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| source |
|
| cas_special |
| abstract
(eng) |
In relation to automated 3D concrete construction printing, a structure design of a suitable robot manipulator is presented as well as analytical solutions of related kinematics. The proposed structure has a higher number of degrees of freedom which can significantly increase the dexterity of a robot end-effector carrying a printing head. It should perform a continual motion along complicated large-scale printing trajectories. The related robot kinematics is derived by a novel representation of working layers in the complex plane using exponential functions. It leads to an explicit derivation of kinematic equations. The theoretical results are presented by examples of motion trajectories with typical configurations of the proposed structure. |
| result_subspec |
WOS |
| RIV |
JD |
| FORD0 |
20000 |
| FORD1 |
20300 |
| FORD2 |
20301 |
| reportyear |
2023 |
| num_of_auth |
2 |
| mrcbC52 |
2 R hod 4 4rh 4 20250310142233.3 4 20250310142444.5 |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0330546 |
| cooperation |
| ARLID |
cav_un_auth*0423544 |
| name |
Technická univerzita v Liberci, Fakulta mechatroniky, informatiky a mezioborových studií |
| institution |
TUL, FM |
| country |
CZ |
|
| confidential |
S |
| mrcbC86 |
2 Article Automation Control Systems |
| mrcbC91 |
C |
| mrcbT16-e |
AUTOMATIONCONTROLSYSTEMS |
| mrcbT16-j |
1.252 |
| mrcbT16-s |
1.968 |
| mrcbT16-D |
Q2 |
| mrcbT16-E |
Q1 |
| arlyear |
2022 |
| mrcbTft |
\nSoubory v repozitáři: belda-552684.pdf |
| mrcbU14 |
85123740799 SCOPUS |
| mrcbU24 |
PUBMED |
| mrcbU34 |
000751476800001 WOS |
| mrcbU63 |
cav_un_epca*0039780 IEEE Transactions on Automation Science and Engineering 1545-5955 1558-3783 Roč. 19 č. 4 2022 3723 3734 Institute of Electrical and Electronics Engineers |
|