Mathematical description of concrete laying robots

Vladimir Travush, Alexey Bulgakov, Thomas Bock, Wen Der Yu, Ekaterina Pakhomova

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


The object of the research is robots with a manipulation system for concrete-laying operations. The kinematic scheme of a robot with an articulated distributive arm, providing delivery of concrete to any point of the erected object and allowing to bypass various kinds of encountered obstacles, is presented. The closed loops in the form of three- and four-links, which make up the manipulation system, are considered and mathematically described, which is conditioned by the use of a hydraulic drive. On the basis of geometrical approach connections between them are defined, as well as dependences of their velocities and accelerations are established. The description of the dynamics of the manipulating system is made on the basis of the Lagrange method, formulated through the D'Alamber principle, which allowed to obtain the resulting equations in a convenient vector-matrix form. The problem of planning the trajectories of a robotized concrete-laying arm nozzle on the examples of monolithic buildings and structures erection by means of sliding, repositionable and volumetric formwork has been solved. Approximation methods are used to form the time laws of changes in the generalized coordinates of the manipulation system.

Original languageEnglish
Title of host publicationProceedings of the 40th International Symposium on Automation and Robotics in Construction, ISARC 2023
EditorsBorja Garcia de Soto, Vicente Gonzalez, Ioannis Brilakis
PublisherInternational Association for Automation and Robotics in Construction (IAARC)
Number of pages8
ISBN (Electronic)9780645832204
StatePublished - 2023
Event40th International Symposium on Automation and Robotics in Construction, ISARC 2023 - Chennai, India
Duration: 5 Jul 20237 Jul 2023

Publication series

NameProceedings of the International Symposium on Automation and Robotics in Construction
ISSN (Electronic)2413-5844


Conference40th International Symposium on Automation and Robotics in Construction, ISARC 2023


  • Approximation
  • Concrete
  • Manipulator
  • Mathematical Modell
  • Path Planning
  • Robot


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