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Proceedings Paper

A smart-hose for concrete displacing booms
Author(s): Francesco Ripamonti; Giuseppe Bucca; Victor Fava; Ferruccio Resta
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Paper 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.

Paper Details

Date Published: 20 April 2016
PDF: 8 pages
Proc. SPIE 9803, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2016, 980349 (20 April 2016); doi: 10.1117/12.2219120
Show Author Affiliations
Francesco Ripamonti, Politecnico di Milano (Italy)
Giuseppe Bucca, Politecnico di Milano (Italy)
Victor Fava, Politecnico di Milano (Italy)
Ferruccio Resta, Politecnico di Milano (Italy)


Published in SPIE Proceedings Vol. 9803:
Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2016
Jerome P. Lynch, Editor(s)

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