AP19679899 — Research and development of a manipulator which compensating deviations of a construction 3D printer based on a concrete pump truck and positioning the PrintHead»
The purpose of the work is to research and development a manipulator that compensating for the parasitic deviation of the boom of a concrete pump used as a construction 3D printer manipulator and positioning the PrintHead in space for printing complex-shaped walls and a special nozzle.
Relevance: Since the joint of the transport mechanism of the truck-mounted concrete pump has an open kinematic structure and is made of long articulated joints, it is not designed for precise positioning and has parasitic deviations and vibrations. Thus, a truck-mounted concrete pump cannot provide the required accuracy when printing concrete. The printing mechanism must have an additional compensating mechanism to ensure the required accuracy. To print walls with complex shapes and at different angles, you need to position the printing mechanism in space. To solve these problems, it is recommended to research and develop a manipulator with compensation and positioning capabilities.
Scientific supervisor: doctor PhD, Assoc. professor, Mustafa Azamat.
The results obtained: In this study, a comprehensive analysis of manipulators with compensation and positioning functions was carried out, and the Clavel delta-type parallel manipulator was selected as the most effective solution. The optimal design was determined, and a 3D model was developed in SolidWorks, while kinematic analysis and workspace evaluation were performed in MATLAB. Dynamic characteristics were calculated using the Lagrange method, and simulations were conducted in OpenModelica, along with the development of a control system. A full-scale (1:1) prototype was fabricated and successfully tested together with a concrete delivery mechanism. In addition, a special vibration-assisted nozzle was designed and integrated into the system, enabling the fabrication of complex-shaped concrete structures. The proposed approach reduces costs and improves the environmental efficiency of construction 3D printing.
List of publications with links to them
- Mustafa A., Storch F., Rustem K., Plashnik P., Will F., Mukhagali S., Waurich V. Compensation manipulator for concrete 3D printing based on the CONPrint3D // ES Materials & Manufacturing. – 2024. – Vol. 24. – P. 1127. DOI: 10.30919/esmm1127. – URL: https://www.espublisher.com/journals/articledetails/1127/
- Sagyntay M., Storch F., Mustafa A., Plaschnick P., Will F., Baigunchekov Z. Automated production of 3D printed concrete structures with integrated reinforcement mesh based on standard reinforcement bars // Engineered Science. – 2025. – Vol. 35. – P. 1589. DOI: 10.30919/es1589. – URL: https://www.espublisher.com/journals/articledetails/1589/
- Мустафа А.Қ., Кайыров Р.А., Сағынтай М.Қ., Нұғман Е.З. Аддитивті технологиямен 3D баспалау кезінде пайда болатын ауытқуларды компенсациялайтын манипулятор // Science and Technology of Kazakhstan. – 2025. – Б. 144–155. DOI: 10.48081/ECWK2774. – URL: https://stk.tou.edu.kz/archive/view-pdf/776