3D Printing of Concrete with a Continuum Robot Hose Using Variable Curvature Kinematics
Manu Srivastava,Jake Ammons,Abdul B. Peerzada,Venkat N. Krovi,Prasad Rangaraju,Ian D. Walker,Manu Srivastava,Jake Ammons,Abdul B. Peerzada,Venkat N. Krovi,Prasad Rangaraju,Ian D. Walker
We present a novel application of continuum robots acting as concrete hoses to support 3D printing of cementitious materials. An industrial concrete hose was fitted with a cable harness and remotely actuated via tendons. The resulting continuum hose robot exhibited non constant curvature. In order to account for this, a new geometric approach to modeling variable curvature inverse kinematics using...
