Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | Springer Tracts in Additive Manufacturing |
| Herausgeber (Verlag) | Springer Nature |
| Seiten | 156-164 |
| Seitenumfang | 9 |
| ISBN (elektronisch) | 978-3-031-64269-2 |
| ISBN (Print) | 978-3-031-64268-5 |
| Publikationsstatus | Veröffentlicht - 11 Juli 2024 |
Publikationsreihe
| Name | Springer Tracts in Additive Manufacturing |
|---|---|
| Band | Part F3258 |
| ISSN (Print) | 2730-9576 |
| ISSN (elektronisch) | 2730-9584 |
Abstract
Through the deployment of a mobile construction robot capable of conducting high-resolution object scanning and precise in situ Additive Manufacturing (AM), we present a novel design-to-fabrication workflow for repairing existing building structures. The integration of AM techniques into context-aware mobile robotic systems enables high-precision in-place fabrication for new construction and for repair of existing structures. The benefits of transferring AM processes on-site extend in relation to tolerance handling, direct manipulation of existing structures, and removing constraints on shape stability compared to pre-fabricated elements by utilizing the context. By incorporating geometrical data obtained through 3D capture methods into the design and planning environment of architects and engineers, a direct interface between the existing building site and the planned digital geometry is created, facilitating accurate design of in-place repair or additions to existing building components. To evaluate this approach, we conducted an experiment in which a mobile robot equipped with a clay extrusion 3D printing system conceptually repaired a set of damaged brick wall segments. This workflow involved capturing the existing context with two levels of resolution: low-resolution 3D scene capture with a depth camera to generate a trajectory for high-resolution scanning, from which a dense point cloud is recorded using a 2D laser profile sensor by following the designated trajectories. This dense point cloud enables the operator to identify both the geometry of the existing brick wall, generate the missing volume, and a print path trajectory that fits the bounds of the volume while considering functional and architectural parameters. The accurate completion of the missing volume was successfully demonstrated by in-place 3D printing using clay extrusion with the mobile robotic system, showing the conceptual effectiveness of the proposed approach.
ASJC Scopus Sachgebiete
- Ingenieurwesen (insg.)
- Wirtschaftsingenieurwesen und Fertigungstechnik
- Ingenieurwesen (insg.)
- Maschinenbau
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- BibTex
- RIS
Springer Tracts in Additive Manufacturing. Springer Nature, 2024. S. 156-164 (Springer Tracts in Additive Manufacturing; Band Part F3258).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Beitrag in Buch/Sammelwerk › Forschung › Peer-Review
}
TY - CHAP
T1 - Robotic Repair
T2 - In-Place 3D Printing for Repair of Building Components Using a Mobile Robot
AU - Dielemans, Gido
AU - Lachmayer, Lukas
AU - Khader, Noor
AU - Hack, Norman
AU - Raatz, Annika
AU - Dörfler, Kathrin
N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
PY - 2024/7/11
Y1 - 2024/7/11
N2 - Through the deployment of a mobile construction robot capable of conducting high-resolution object scanning and precise in situ Additive Manufacturing (AM), we present a novel design-to-fabrication workflow for repairing existing building structures. The integration of AM techniques into context-aware mobile robotic systems enables high-precision in-place fabrication for new construction and for repair of existing structures. The benefits of transferring AM processes on-site extend in relation to tolerance handling, direct manipulation of existing structures, and removing constraints on shape stability compared to pre-fabricated elements by utilizing the context. By incorporating geometrical data obtained through 3D capture methods into the design and planning environment of architects and engineers, a direct interface between the existing building site and the planned digital geometry is created, facilitating accurate design of in-place repair or additions to existing building components. To evaluate this approach, we conducted an experiment in which a mobile robot equipped with a clay extrusion 3D printing system conceptually repaired a set of damaged brick wall segments. This workflow involved capturing the existing context with two levels of resolution: low-resolution 3D scene capture with a depth camera to generate a trajectory for high-resolution scanning, from which a dense point cloud is recorded using a 2D laser profile sensor by following the designated trajectories. This dense point cloud enables the operator to identify both the geometry of the existing brick wall, generate the missing volume, and a print path trajectory that fits the bounds of the volume while considering functional and architectural parameters. The accurate completion of the missing volume was successfully demonstrated by in-place 3D printing using clay extrusion with the mobile robotic system, showing the conceptual effectiveness of the proposed approach.
AB - Through the deployment of a mobile construction robot capable of conducting high-resolution object scanning and precise in situ Additive Manufacturing (AM), we present a novel design-to-fabrication workflow for repairing existing building structures. The integration of AM techniques into context-aware mobile robotic systems enables high-precision in-place fabrication for new construction and for repair of existing structures. The benefits of transferring AM processes on-site extend in relation to tolerance handling, direct manipulation of existing structures, and removing constraints on shape stability compared to pre-fabricated elements by utilizing the context. By incorporating geometrical data obtained through 3D capture methods into the design and planning environment of architects and engineers, a direct interface between the existing building site and the planned digital geometry is created, facilitating accurate design of in-place repair or additions to existing building components. To evaluate this approach, we conducted an experiment in which a mobile robot equipped with a clay extrusion 3D printing system conceptually repaired a set of damaged brick wall segments. This workflow involved capturing the existing context with two levels of resolution: low-resolution 3D scene capture with a depth camera to generate a trajectory for high-resolution scanning, from which a dense point cloud is recorded using a 2D laser profile sensor by following the designated trajectories. This dense point cloud enables the operator to identify both the geometry of the existing brick wall, generate the missing volume, and a print path trajectory that fits the bounds of the volume while considering functional and architectural parameters. The accurate completion of the missing volume was successfully demonstrated by in-place 3D printing using clay extrusion with the mobile robotic system, showing the conceptual effectiveness of the proposed approach.
KW - 3D Capture
KW - Additive Manufacturing in Construction
KW - In-Place 3D Printing
KW - Mobile Robotics
KW - Repair
UR - http://www.scopus.com/inward/record.url?scp=85201312874&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-64269-2_20
DO - 10.1007/978-3-031-64269-2_20
M3 - Contribution to book/anthology
AN - SCOPUS:85201312874
SN - 978-3-031-64268-5
T3 - Springer Tracts in Additive Manufacturing
SP - 156
EP - 164
BT - Springer Tracts in Additive Manufacturing
PB - Springer Nature
ER -