Optimisation of Different Concrete Mix Designs for 3D Printing by Utilizing 6DOF Industrial Robot

Abstract

Numerous tests were performed to check the buildability, flowability, extrudability and moldability of the concrete mixtures. The horizontal test was used to determine the flowability and consistency, while the vertical and squeeze-flow tests were used to determine the buildability of the layers. The extrudability and moldability of the concrete mixtures were controlled by the robot and associated extruder speeds.

Review of Emerging Additive Manufacturing Technologies in 3D Printing of Cementitious Materials in the Construction Industry

“…According to the study performed by Shakor et al (2017a), the mixture proportion of the concrete could be prepared based on the squeeze flow tests, compressive strength, slump test, and Vicat test. Table 3 shows the pivotal trials for the concrete mixture.…”

“…In the study of Kazemian et al (2017), mixing process took 8 min, while in Le et al (2012b) 15 min was used to mix the concrete for the printed specimens. In the previous work which has been performed by Shakor et al (2017a) the average time of mixing is 5-8 min.…”

“…As a pilot study, Shakor et al (2017a) used different concrete mixes and various nozzle sizes with an industrial robot to print cement mortar. The robot was also programmed to print complex components as shown in Figure 8.…”

“…This problem was initially exacerbated since these joints were experiencing the majority of the motions and changes in velocity. However, this oscillation could be solved by applying the Damped Least Squares (DLS) method for robot singularity avoidance as explained in previous work (Shakor et al, 2017a). Furthermore, the sieve analysis and particle size distribution of the mortar has a major impact on the flow of the materials and the slump of the mortar.…”

“…Pumps have different types and a different process to delivers the material from the source to the end-effector of the printer. Figure 4 displays the graphical illustration of the printing system via using 6-DOF and a progressive cavity pump in the current study (Shakor et al, 2017a). In 3DP by concrete, various pumps have been used such as a progressive cavity pump (Shakor et al, 2017a), peristaltic pump (Gosselin et al, 2016), pneumatic pump (Bos et al, 2018), and piston pump (Malaeb et al, 2015).…”