Project

# Title Team Members TA Documents Sponsor
28 A climbing robot for building 3d printed concrete wall
 Benhao Lu
Jianye Chen
Shenghua Ye
Zhenghao Zhang
 design_document1.pdf
proposal1.pdf
 Binbin Li
## Members:

- Jianye Chen (jianyec2)
- Zhenghao Zhang (zz84)
- Shenghua Ye (sye14)
- Benhao Lu (benhaol2)

## Project title
A climbing robot for building 3d printed concrete wall

## PROBLEM:
Current 3D printing construction, while effective in reducing construction waste and improving efficiency, faces challenges in adapting to complex architectural forms and constructing tall buildings. The existing equipment is limited in spatial adaptability, especially when dealing with the irregularities and textures of 3D printed concrete structures. The need for a versatile climbing and printing system for high-rise and complex architectural construction is a pressing issue in the construction industry.

## SOLUTION OVERVIEW:
This project proposes an innovative climbing and self-supporting 3D printing system for construction. The system comprises a versatile mobile unit, including a climbing device for adapting to complex facades and a movable support system for irregular plans. The climbing device ensures stable ascent through power-driven surface adaptation and load-bearing anchors. The support system includes telescopic rails, pulleys, lifting columns, and a robotic arm for diverse construction needs. The construction system integrates material feeding, real-time printing feedback, and precise steel bar placement. The control system, based on GPS, facilitates targeted positioning, enabling intelligent construction of complex spatial structures. Overall, this solution aims to enhance 3D printing adaptability, revolutionizing construction methods for diverse architectural forms.

## SOLUTION COMPONENTS:
The proposed solution consists of the following components:

## MOBILE SYSTEM:
Climbing and lifting device with power drive, surface climbing, and load-bearing anchor lock modules. Construction support device with telescopic rails, universal pulleys, rigid lifting columns, and a multifunctional construction robotic arm.

## CONSTRUCTION SYSTEM:
Material feeding device for adjusting material flow. Printing device for real-time feedback on additive construction accuracy. Reinforcement device for positioning and laying steel bars.

## CONTROL SYSTEM:
GPS-based control system for precise positioning and printing control.

In summary, this project aims to revolutionize 3D printing construction by providing a climbing and self-supporting printing system capable of adapting to complex architectural forms and surface textures, offering a new paradigm for industrialized building construction.

## CRITERION OF SUCCESS
1. INITIALIZATION AND PRINTING COMMAND:
Receive input for architectural details and parameters.
Perform self-checks and initiate the printing command.
2. PRINTING CONSTRUCTION EXECUTION:
Execute printing at 0-1m height with moving and printing devices.
Wait for concrete to reach the desired strength.
3. SELF-CLIMBING AND CONNECTION TO SMART FEEDING SYSTEM:
Move to the self-climbing start.
Lift to the designated position.
4. HORIZONTAL MOVEMENT AND PRINTING ADJUSTMENT:
Detect and compensate for X-Y-Z oscillations.
Use TOF camera for accuracy and adjust concrete flow.
5. TASK COMPLETION AND SELF-CLIMBING:
After printing, perform downward pressure.
Retract the horizontal movement device.
## DISTRIBUTION OF WORK
1. JIANYE CHEN: MECHANICAL DESIGN AND MANUFACTURE
a) Jianye specializes in mechanical design and manufacturing aspects of the project. b) His expertise includes creating detailed mechanical plans, prototyping, and ensuring the physical components are well-crafted.

2. ZHENGHAO ZHANG: MECHANICAL DESIGN AND MANUFACTURE
a) Zhenghao complements Jianye's skills in mechanical design and manufacture. b) Together with Jianye, they form a strong team handling the physical aspects of the project, ensuring its mechanical components are robust and functional.

3. SHENGHUA YE: PCB AND DIGITAL HARDWARE
a) Shenghua focuses on the PCB and digital hardware aspects of the project. b) His expertise includes designing and implementing the electronic components, ensuring seamless integration with the mechanical elements.

4. BENHAO LU: SOFTWARE
a) Benhao specializes in the software part related to printing. b) His role involves developing the necessary software for the printing process, optimizing functionality, and ensuring a user-friendly interface.

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