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.
