End of the Arm Tool (EoAT) for a Robotic Concrete 3D Printing System

Overview

To improve the performance of the End of Arm Tool (EoAT) connected to Jose Duarte, Paniz Farrokhsiar, and the PSU College of Arts and Architecture’s robot utilized for 3D printing concrete structures, our team was tasked with redesigning and testing a new EoAT, along with redesigning hose management, nozzle attachment methods, and cleaning procedures. Currently, the EoAT is time consuming to attach/detach from the robot and is not conducive to time efficient cleaning methods. Additionally, the EoAT does not meet stability requirements and is composed of components that are not wear resistant. Our team created a new EoAT that increased stability, decreased assembly and disassembly time, cleaning process time, and has a sleeve to protect susceptible components from wear.

Objectives

– Prove an increase in stability with dry run tests to showcase an enhanced resistance to vibrations through accelerometer results.
– Achieve a 20% decrease in the time required to assemble and disassemble the nozzle compared to the current EoAT design.
– Attain a 15% decrease in time required to clean the EoAT components compared to the current EoAT design.
– Create a wear resistant sleeve that allows for longevity of components for the EoAT.

Approach

– Observe and test the current EoAT for the baseline data in our areas of desired improvement.
– Find a high friction grip connection method for the nozzle attachment.
– Find a wear resistant material to protect EoAT components.
– Develop a structure with more reinforcements that will increase tool stability.
– Develop a hose management system that eliminates the need for an employee to hold the hose during the printing process.

Outcomes

After redesigning the end-of-arm tool (EoAT) for the autonomous concrete 3D printer, the team successfully addressed nozzle instability and cleaning efficiency difficulties. The use of high-friction grip pipe hangars and a tight sleeve greatly improved stability during printing and equipment cleaning. A new hose management system, which uses shorter hose sections and high-pressure, steel-braided hose, improves safety and durability. The five stage Design Thinking Model guided the project, which cost $1,290.95 in total, with $904.39 going into the final tool development. The improvements made throughout this project resulted in a more stable, efficient, and safe concrete 3D printing process, laying a strong foundation for future iterations.