Robotic Hot-Blade Cutting

An Industrial Approach to Cost-Effective Production of Double Curved Concrete Structures
  • Asbjørn Søndergaard
  • Jelle Feringa
  • Toke Nørbjerg
  • Kasper Steenstrup
  • David Brander
  • Jens Graversen
  • Steen Markvorsen
  • Andreas Bærentzen
  • Kiril Petkov
  • Jesper Hattel
  • Kenn Clausen
  • Kasper Jensen
  • Lars Knudsen
  • Jacob Kortbek
Chapter

Abstract

This paper presents a novel method for cost-effective, robotic production of double curved formwork in Expanded Polystyrene (EPS) for in situ and prefabricated concrete construction. A rationalization and segmentation procedure is developed, which allows for the transliteration of double curved NURBS surfaces to Euler elastica surface segments, while respecting various constraints of production. An 18 axis, tri-robot system approximates double curved NURBS surfaces by means of an elastically deformed and heated blade, mounted on the flanges of two manipulators. Re-orienting or translating either end of the blade dynamically deforms the blade’s curvature. The blade follows the contours of the rationalized surface by continuous change in position and orientation of the end-effectors. The concept’s potential is studied by a pilot production of a full-scale demonstrator panel assembly.

Keywords

Robotic fabrication Hot-Blade EPS-molds Cost-efficiency Concrete structures 

References

  1. Euler, L 1744, Methodus inveniendi lineas curvas maximi minimive proprietate gaudentes; Additamentum I: de curvis elasticis.Google Scholar
  2. Farin, G 2002, ‘A History of Curves and Surfaces in CAGD’, in Handbook of Com-puter Aided Geometric Design, North-Holland Publishers, Amsterdam, pp. 1–23.Google Scholar
  3. Feringa, J and Søndergaard A 2014, ‘Fabricating Architectural Volume’ in Kohler, M and Gramazio, F (eds), Fabricate : negotiating design and making, gta-Verlag, Zürich, pp. 44-51.Google Scholar
  4. Hesse, P 2012, ‘TailorCrete, Flight Assembled Architecture’ in Architekturteilchen. Modulares Bauen im Digitalen Zeitalter, Köln, pp. 126–127, 164–165.Google Scholar
  5. Jepsen, C, Kristensen M, Kirkegaard, P 2011, ‘Dynamic Double Curvature Mould System’ in Gengnagel, C, Kilian, A, Palz, N and Scheurer, F (eds), Computational Design Modeling: Proceedings of the Design Modeling Symposium, Springer, Berlin, pp. 291–300.Google Scholar
  6. Khosnehvis B, 2004, ‘Automated Construction By Contour Crafting–Related Ro-botic and Information Technologies’, in Journal of Automation in Construction Special Issue: The Best of ISARC 2002, vol.13, no.1, January 2004, pp 5–19.Google Scholar
  7. Lim, S, Buswell, RA, Le, TT, Austin, SA, Gibb, AGF and Thorpe, A 2012, ‘Devel-opment in Construction-Scale Additive Manufacturing Processes’, Automation in Construction, vol. 21, no. 1, pp. 262–268.Google Scholar
  8. Lloret, E, Amir, R, Shahab, Mettler, L, Flatt, RJ, Gramazio, F, Kohler, M and Langenberg, S 2014, ‘Complex Concrete Structures: Merging Existing Casting Techniques with Digital Fabrication’, Computer-Aided Design, Elsevier, Amsterdam, NL, vol. 60, March, pp. 40–49.Google Scholar
  9. Love, A 1906, A Treatise on the Mathematical Theory of Elasticity, Cambridge University Press, Cambridge, UK.Google Scholar
  10. McGee, W., Feringa J., Søndergaard, A Processes for an Architecture of Volume: robotic hotwire cutting. In: Brell, S., Braumann, J (eds) Robarch 2012: Robotic Fab-rication in Architecture, Art & Design. Springer Verlag, Vienna, pp 62–71.Google Scholar
  11. Truesdell, C 1983, ‘The Influence of Elasticity on Analysis: the Classic Heritage’ Bulletin of the American Mathematical Society, vol. 9, no. 3, pp. 293–310.Google Scholar
  12. Veenendaal, D, West, M and Block, P 2011, ‘History and Overview of Fabric Formwork: using Fabrics for Concrete Casting’, Structural Concrete, Ernst & Sohn, Berlin, vol.12, no 3.Google Scholar
  13. Wächter,A., and Biegler L.T, 2006, ‘On the implementation of a primal-dual interi-or point filter line search algorithm for large-scale nonlinear programming.’ Mathematical Programming, Springer Berlin, 106(1):25–57.Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Asbjørn Søndergaard
    • 1
  • Jelle Feringa
    • 1
  • Toke Nørbjerg
    • 2
  • Kasper Steenstrup
    • 2
  • David Brander
    • 2
  • Jens Graversen
    • 2
  • Steen Markvorsen
    • 2
  • Andreas Bærentzen
    • 2
  • Kiril Petkov
    • 3
  • Jesper Hattel
    • 3
  • Kenn Clausen
    • 4
  • Kasper Jensen
    • 4
  • Lars Knudsen
    • 5
  • Jacob Kortbek
    • 5
  1. 1.Odico Formwork Robotics ApsOdenseDenmark
  2. 2.Department of Applied Mathematics and Computer ScienceTechnical University of DenmarkKongens LyngbyDenmark
  3. 3.Department of Mechanical EngineeringTechnical University of DenmarkKongens LyngbyDenmark
  4. 4.GXN A/SCopenhagenDenmark
  5. 5.Center for Robotics, Danish Technological InstituteCopenhagenDenmark

Personalised recommendations