{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T10:45:57Z","timestamp":1764240357965,"version":"build-2065373602"},"reference-count":57,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2020,5,27]],"date-time":"2020-05-27T00:00:00Z","timestamp":1590537600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100002850","name":"Fondo Nacional de Desarrollo Cient\u00edfico y Tecnol\u00f3gico","doi-asserted-by":"publisher","award":["1181015"],"award-info":[{"award-number":["1181015"]}],"id":[{"id":"10.13039\/501100002850","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002848","name":"Comisi\u00f3n Nacional de Investigaci\u00f3n Cient\u00edfica y Tecnol\u00f3gica","doi-asserted-by":"publisher","award":["FB0008"],"award-info":[{"award-number":["FB0008"]}],"id":[{"id":"10.13039\/501100002848","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sustainability"],"abstract":"<jats:p>The construction industry is currently technologically challenged to incorporate new developments for enhancing the process, such as the use of 3D printing for complex building structures, which is the aim of this brief. To do so, we show a systematic study regarding the usability and performance of mobile manipulators as displaceable 3D printing machinery in construction sites, with emphasis on the three main different existing mobile platforms: the car-like, the unicycle and the omnidirectional (mecanum wheeled), with an UR5 manipulator on them. To evaluate its performance, we propose the printing of the following building elements: helical, square, circular and mesh, with different sizes. As metrics, we consider the total control effort observed in the robots and the total tracking error associated with the energy consumed in the activity to get a more sustainable process. In addition, to further test our work, we constrained the robot workspace thus resembling real life construction sites. In general, the statistical results show that the omnidirectional platform presents the best results \u2013lowest tracking error and lowest control effort\u2013 for circular, helicoidal and mesh building elements; and car-like platform shows the best results for square-like building element. Then, an innovative performance analysis is achieved for the printing of building elements, with a contribution to the reduction of energy consumption.<\/jats:p>","DOI":"10.3390\/su12114378","type":"journal-article","created":{"date-parts":[[2020,5,28]],"date-time":"2020-05-28T12:36:58Z","timestamp":1590669418000},"page":"4378","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["A Comprehensive Performance Evaluation of Different Mobile Manipulators Used as Displaceable 3D Printers of Building Elements for the Construction Industry"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1387-0315","authenticated-orcid":false,"given":"Robert Guam\u00e1n","family":"Rivera","sequence":"first","affiliation":[{"name":"Department of Electronics Engineering, Universidad T\u00e9cnica Federico Santa Mar\u00eda, Valpara\u00edso 1680, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2216-2388","authenticated-orcid":false,"given":"Rodrigo Garc\u00eda","family":"Alvarado","sequence":"additional","affiliation":[{"name":"Department of Design and theory of Architecture, Universidad de Bio-Bio, Concepci\u00f3n 1202, Chile"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2874-0081","authenticated-orcid":false,"given":"Alejandro","family":"Mart\u00ednez-Rocamora","sequence":"additional","affiliation":[{"name":"ArDiTec, Department of Architectural Constructions II, IUACC, Higher Technical School of Building Engineering, Universidad de Sevilla, Av. Reina Mercedes 4-a, 41012 Sevilla, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6347-7696","authenticated-orcid":false,"given":"Fernando","family":"Auat Cheein","sequence":"additional","affiliation":[{"name":"Department of Electronics Engineering, Universidad T\u00e9cnica Federico Santa Mar\u00eda, Valpara\u00edso 1680, Chile"}]}],"member":"1968","published-online":{"date-parts":[[2020,5,27]]},"reference":[{"key":"ref_1","unstructured":"Gramazio, F., and Kohler, M. (2014). Made by Robots: Challenging Architecture at a Larger Scale, John Wiley & Sons."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"261","DOI":"10.1080\/17452759.2017.1326724","article-title":"3D printing trends in building and construction industry: A review","volume":"12","author":"Tay","year":"2017","journal-title":"Virtual Phys. 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