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dc.contributor.authorGuamán Rivera, Robert
dc.contributor.authorGarcía Alvarado, Rodrigo
dc.contributor.authorMartínez Rocamora, Alejandro
dc.contributor.authorAuat Cheein, Fernando
dc.identifier.citationRivera, R.G.; Alvarado, R.G.; Martínez-Rocamora, A.; Auat Cheein, F. A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry. Sustainability 2020, 12, 4378.
dc.description.abstractThe construction industry is currently technologically challenged to incorporate new developments for enhancing the process, such as the use of 3D printing for complex building structures, which is the aim of this brief. To do so, we show a systematic study regarding the usability and performance of mobile manipulators as displaceable 3D printing machinery in construction sites, with emphasis on the three main different existing mobile platforms: the car-like, the unicycle and the omnidirectional (mecanum wheeled), with an UR5 manipulator on them. To evaluate its performance, we propose the printing of the following building elements: helical, square, circular and mesh, with different sizes. As metrics, we consider the total control effort observed in the robots and the total tracking error associated with the energy consumed in the activity to get a more sustainable process. In addition, to further test our work, we constrained the robot workspace thus resembling real life construction sites. In general, the statistical results show that the omnidirectional platform presents the best results-lowest tracking error and lowest control effort-for circular, helicoidal and mesh building elements; and car-like platform shows the best results for square-like building element. Then, an innovative performance analysis is achieved for the printing of building elements, with a contribution to the reduction of energy consumption. © 2020 by the authors. Licensee MDPI, Basel,
dc.publisherMDPI AGes
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.titleA comprehensive performance evaluation of different mobile manipulators used as displaceable 3D printers of building elements for the construction industryes
dc.journal.titleSustainability (Switzerland)es
dc.subject.keywordImpresora 3Des
dc.subject.keywordIndustria de la construcciónes
dc.subject.keywordMaquinaria - Construcciónes
dc.subject.keywordAhorro energéticoes
dc.subject.keywordGestión de la producciónes
dc.subject.keywordConstrucción industrializadaes
dc.subject.unesco1203.05 Sistemas Automatizados de Producciónes
dc.subject.unesco3311.01 Tecnología de la Automatizaciónes
dc.subject.unesco5312.03 Construcciónes
dc.subject.unesco3313.24 Maquinaria de Impresión y Reproducciónes
dc.subject.unesco5311.09 Organización de la Producciónes

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