Displacement Analysis of Large-Scale Robotic Arm for Printing Cement Mortar Using Photogrammetry

The development of specialised equipment for three-dimensional printing cement mortar requires the deployment advanced design methods. accuracy robotic arms is influenced by change in position end effector, which stiffness arm, or deformation parts arm and yielding place rotation axes. Determining actual effector often a difficult challenge. In this paper, we analysed displacement on large non-contact optical photogrammetry method. We applied method to 2.8 m long SCARA with an added rotational axis. compared results from measurements mechanical deflection meter, predicted values FEM simulation. both measurement methods showed maximum deviations hundredths mm. findings analysis thus indicate that meets strict requirements 3D mortar. A significant advantage possibility measuring almost all attainable positions achieving hundreds places.