Energy Consumption Modeling for a Robot Arm in 3D Concrete Printing

The construction sector is a major contributor to global CO2 emissions and energy consumption. 3D concrete printing (3DCP) provides sustainable solutions to tackle the environmental challenges. However, the long-time and continuous operation of robotic arm printers in 3DCP incur critical challenges in energy efficiency. To address these challenges, this study aims to develop an energy consumption (EC) model of a robotic arm in 3DCP. The proposed EC model has desirable agreement compared to the experimental result, achieving an accuracy 99.51%. The impact of the proposed EC model is evaluated by printing a pre-designed path with various positions. Results reveal that the EC reduction can achieve up to 53.72% with varying positions. The findings reveal that the proposed EC model has the potential to reduce the EC for energy efficiency in 3DCP.