Institute of Assembly Technology and Robotics Research Publications
Magnetische Formgedächtnisaktoren – Konzepte und prototypische Umsetzung für potentielle Anwendungen

Automated Additive Manufacturing of Concrete Structures without Formwork - Concept for Path Planning

Categories Konferenz (reviewed)
Year 2018
Authors Ibrahim, S.; Olbrich, A.; Lindemann, H.; Gerbers, R.; Kloft, H.; Dröder, K.; Raatz, A.
Published in Schüppstuhl T., Tracht K., Franke J. (eds) Tagungsband des 3. Kongresses Montage Handhabung Industrieroboter. Springer Vieweg, Berlin, Heidelberg, (9 pages)
Description

At the Digital Building Fabrication Laboratory in Braunschweig, automated additive manufacturing of concrete structures without formwork is researched. The system consists of a six-axis robot and a three-axis milling machine, which are each connected to a three-axis portal. At the robot a shotcrete sprayer is installed to generate concrete structures. In this paper a first path planning concept for the robot is described. The given algorithm calculates from the CAD data of an object a path for the robot. A difficulty of path planning is that the shotcrete application depends on various parameters. Therefore, a simplified model for the shotcrete application is developed. For the purpose of error minimization while spraying, an online monitoring approach by using a laser scanner is presented.

DOI 10.1007/978-3-662-56714-2_10