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用多个自主机器人进行空中增材制造
Ketao Zhang1,2, Pisak Chermprayong1, Feng Xiao1
1Department of Aeronautics, Imperial College London, London, UK.
Nature
|September 21, 2022
概括
航空增材制造 (Aerial-AM) 使用飞行机器人进行3D打印, 这种可扩展的框架可以在具有挑战性的地点进行自主建造.
科学领域:
- 机器人和自动化
- 建筑工程
- 材料科学
背景情况:
- 增材制造 (AM) 正在以静态和移动机器人为基础发展.
- 现有的方法在可访问性和复杂几何学方面存在局限性.
- 通过大自然启发的集体建筑策略,
研究的目的:
- 引入空中增材制造 (Aerial-AM) 一种使用空中机器人的新型3D打印方法.
- 为多机器人3D打印和路径规划提供可扩展的框架,可适应建筑几何.
- 通过实时监控和自适应机器人的行为,
主要方法:
- 开发了一个可扩展的多机器人3D打印和路径规划框架.
- 集成的自主空中机器人 (用于打印的BuilDrones,用于质量评估的ScanDrones).
- 集成实时模型预测控制,一个自我调整的三角形操纵器,并开发了四种复合材料混合物.
主要成果:
- 包括一个2.05米的泡圆柱体和一个0.18米的水泥圆柱体.
- 达到5毫米的制造精度,以满足精确的轨迹要求.
- 通过真实世界和多机器人模拟验证了自主空中-AM.
结论:
- 通过使用大量机器人进行飞行制造.
- 开发的框架支持具有适应能力的自主建筑.
- 在无边界,高空或难以进入的环境中,空气增强技术为未来的建筑提供了可能性.
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