This work explores additive manufacturing (AM) of concrete by using a six-axis robotic arm and its use in large-scale, autonomous concrete construction. Concrete AM uses an extrusion method to deposit concrete beads in layers to create a three-dimensional (3D) shape. This method has been found to have many uses and advantages in construction applications. The lack of formwork and autonomous nature of this manufacturing method allows for new geometries and materials to be printed in unsafe or challenging environments. Autonomous construction has been suggested as a method of creating habitats in rapid-response scenarios. This article discusses research toward one such system that could be used to rapidly construct necessary habitats in response to low-resource and emergency situations. This required addressing certain limitations of a six-axis robotic arm platform along with overcoming system challenges to achieve deliverables for NASA's “3D Printed Habitat Challenge.” This included system design to increase the build volume, integrate embedding, print non-coplanar sections, and minimize travel moves to address the challenges associated with continuous extrusion of cementitious material. The system was demonstrated by printing a one-third scale habitat, which represents the first 3d-printed fully enclosed structure at an architectural scale without the use of support.

中文翻译：

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通过机械臂沉积在远程环境中进行建筑规模混凝土增材制造的设计和系统考虑

这项工作通过使用六轴机械臂探索混凝土增材制造 (AM) 及其在大规模自主混凝土施工中的应用。混凝土 AM 使用挤压方法将混凝土珠分层放置以创建三维 (3D) 形状。已发现该方法在建筑应用中具有许多用途和优势。这种制造方法缺乏模板和自主性，允许在不安全或具有挑战性的环境中打印新的几何形状和材料。自主建造已被建议作为在快速反应场景中创建栖息地的一种方法。本文讨论了针对此类系统的研究，该系统可用于快速构建必要的栖息地以应对资源匮乏和紧急情况。这需要解决六轴机械臂平台的某些局限性以及克服系统挑战，以实现 NASA 的“3D 打印栖息地挑战”的可交付成果。这包括系统设计，以增加构建体积、集成嵌入、打印非共面部分，并最大限度地减少行程移动，以应对与连续挤出水泥材料相关的挑战。该系统通过打印三分之一比例的栖息地进行展示，这是第一个在建筑规模上不使用支撑的 3D 打印全封闭结构。并尽量减少行程移动，以应对与连续挤压水泥材料相关的挑战。该系统通过打印三分之一比例的栖息地进行展示，这是第一个在建筑规模上不使用支撑的 3D 打印全封闭结构。并尽量减少行程移动，以应对与连续挤压水泥材料相关的挑战。该系统通过打印三分之一比例的栖息地进行展示，这是第一个在建筑规模上不使用支撑的 3D 打印全封闭结构。