Robotized grinding experiments of construction materials for asbestos removal operation

Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Asbestos is a carcinogen prohibited material that has to be removed from houses and buildings. The European project Bots2ReC aims at constructing cooperative mobile manipulators capable to replace human operators in contaminated areas, in order to remove construction materials that contain asbestos by robotized grinding. The main objective of this work is to measure the grinding forces generated by a rotating tool used in construction materials, as these data are lacking in the literature. Two materials and different grinding parameters are tested, and recommendations are also deduced for robotizing grinding.


Construction robotics Construction materials Asbestos removal Robotized grinding Experimental tests 


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This project has received funding from the European Union’s Horizon 2020 research and innovation program under Grant agreement no.687593. The authors extend their gratitude to the CTT SIGMA team for their technical support. We also particularly thank V. Gagnol and A. Maamar for the measurement hardware lending and their precious recommendations.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Institut Pascal, SIGMA Clermont, CNRS, Université Clermont AuvergneClermont–FerrandFrance
  2. 2.LIMOS, SIGMA Clermont, CNRS, MINES Saint-Etienne, Université Clermont AuvergneClermont–FerrandFrance

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