A smart-hose for concrete displacing booms

Francesco Ripamonti; Giuseppe Bucca; Victor Fava; Ferruccio Resta

doi:10.1117/12.2219120

20 April 2016 A smart-hose for concrete displacing booms

Francesco Ripamonti, Giuseppe Bucca, Victor Fava, Ferruccio Resta

Proceedings Volume 9803, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2016; 980349 (2016) https://doi.org/10.1117/12.2219120
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2016, Las Vegas, Nevada, United States

Abstract

During the last years, continuum robots have been used in many applications. They are smart structures with continuous curving, similar to a worm or an elephant trunk, characterized by a very high number of sub-actuated degrees of freedom (dof). They need a robust control system, aiming at both positioning the robot and suppressing induced vibrations. The idea is to adopt such a robot on a construction machine for the concrete distribution, substituting the reinforced rubber hose with the robotic smart solution. Particular attention has been paid to a control strategy able to reduce vibrations induced by the pumping procedure.

Citation Download Citation

Francesco Ripamonti, Giuseppe Bucca, Victor Fava, and Ferruccio Resta "A smart-hose for concrete displacing booms", Proc. SPIE 9803, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2016, 980349 (20 April 2016); https://doi.org/10.1117/12.2219120

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