Environment-Aware 3D Concrete Printing through Robot-Vision

Naboni, Roberto; Breseghello, Luca; Sanin, Sandro

doi:10.52842/conf.ecaade.2022.2.409

Cited by 9 publications

(5 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Though the study provided a unique way, optimization studies still need to eliminate the clashes within the robots and between the robot and printed structure. Naboni et al (2022) presented an environment-aware 3DCP system by employing a depth camera on a robotic system to collect geometric information in the form of a point. The collected information and environment-aware generative design algorithms are used to plan the tool path for the fabrication of the elements.…”

Section: Robotic Arm 3d Printermentioning

confidence: 99%

A review of concrete 3D printed structural members

Raphael

Senthilnathan

Patel

et al. 2023

Front. Built Environ.

View full text Add to dashboard Cite

Concrete 3D Printing (3DP) is a potential technology for increasing automation and introducing digital fabrication in the construction industry. Concrete 3D Printing provides a significant advantage over conventional or precast methods, such as the prospects of topologically optimized designs and integrating functional components within the structural volume of the building components. Many previous studies have compiled state-of-art studies in design parameters, mix properties, robotic technologies, and reinforcement strategies in 3D printed elements. However, there is no literature review on using concrete 3D Printing technology to fabricate structural load-carrying elements and systems. As concrete 3DP is shifting towards a large-scale construction technology paradigm, it is essential to understand the current studies on structural members and focus on future studies to improve further. A systematic literature review process is adopted in this study, where relevant publications are searched and analyzed to answer a set of well-defined research questions. The review is structured by categorizing the publications based on issues/problems associated with structural members and the recent technology solutions developed. It gives an overall view of the studies, which is still in its nascent stage, and the areas which require future focus on 3D printing technology in large-scale construction projects.

show abstract

Section: Robotic Arm 3d Printermentioning

confidence: 99%

A review of concrete 3D printed structural members

Raphael

Senthilnathan

Patel

et al. 2023

Front. Built Environ.

View full text Add to dashboard Cite

show abstract

“…The integration of sensor feedback in robotic solutions is an essential aspect that enables the effective realization of non-standard tasks. In this multidisciplinary approach, researchers from Computational Design, Robotics, and Human-Computer Interaction, have demonstrated successful applications and discussed how some of the conventional limitations in dealing with nonstandard materials (Garcia del Castillo y Lopez, 2022; Larsen & Aagaard, 2020), complex geometries (Çapunaman et al, 2022;Naboni, 2022;Nicholas et al, 2020), unconventional manipulation tasks (Brugnaro et al, 2016;Im et al, 2018;Snooks & Jahn, 2016), and interactive operations (Felbrich et al, 2022;Mitterberger, 2022;Mueller et al, 2019;Tokac et al, 2022) could be addressed. In addition, researchers have successfully showcased the viability of augmented robotic manufacturing systems by employing diverse methods and materials.…”

Section: Augmented Fabricationmentioning

confidence: 99%

“…In addition, researchers have successfully showcased the viability of augmented robotic manufacturing systems by employing diverse methods and materials. These include additive production processes with cementitious (Çapunaman et al, 2022;Ercan Jenny et al, 2020;Im et al, 2018;Naboni, 2022) and thermoplastic materials (Felbrich et al, 2022;Kwon et al, 2019;Nicholas et al, 2020), subtractive production processes involving carving and milling techniques (Brugnaro & Hanna, 2019;Çapunaman et al, 2022;Garcia del Castillo y Lopez, 2022;Shaked et al, 2021), and formative production processes utilizing various material systems (Mueller et al, 2019;Rossi & Nicholas, 2018).…”

Section: Augmented Fabricationmentioning

confidence: 99%

Reconfigurable Formwork System for Vision-Informed Conformal Robotic 3D Printing

Zamani,

Mohseni,

Bertuğ Çapunaman

2023

eCAADe Proceedings

View full text Add to dashboard Cite

Robotic additive manufacturing has garnered significant research and development interest due to its transformative potential in architecture, engineering, and construction as a cost-effective, material-efficient, and energy-saving fabrication method. However, despite its potential, conventional approaches heavily depend on meticulously optimized work environments, as robotic arms possess limited information regarding their immediate surroundings (Bechthold, 2010; Bechthold & King, 2013). Furthermore, such approaches are often restricted to planar build surfaces and slicing algorithms due to computational and physical practicality, which consequently limits the feasibility of robotic solutions in scenarios involving complex geometries and materials. Building on previous work (Çapunaman et al., 2022), this research investigates conformal 3D printing of clay using a 6 degrees-of-freedom robot arm and a vision-based sensing framework on parametrically reconfigurable tensile hyperbolic paraboloid (hypar) formwork. In this paper, we present the implementation details of the formwork system, share findings from preliminary testing of the proposed workflow, and demonstrate application feasibility through a design exercise that aims to fabricate unique components for a poly-hypar surface structure. The formwork system also offers parametric control over generating complex, non-planar tensile surfaces to be printed on. Within the scope of this workflow, the vision-based sensing framework is employed to generate a digital twin informing iterative tuning of the formwork geometry and conformal toolpath planning on scanned geometries. Additionally, we utilized the augmented fabrication framework to observe and analyze deformations in the printed clay body that occurs during air drying. The proposed workflow, in conjunction with the vision-based sensing framework and the reconfigurable formwork, aims to minimize time and material waste in custom formwork fabrication and printing support materials for complex geometric panels and shell structures.

show abstract

“…While proving the effectiveness of 3D printing on non-planar surface geometries, the works in literature are limited to a linear workflow of forming and printing without notions of material behaviour and process accuracy. Naboni et al (2022) integrated sensor feedback, i.e. camera vision, to scan an unknown gravel environment and generate emergent design solutions with conformal 3DCP toolpaths.…”

Section: State-of-the-art In Conformal 3dcp and Terrain Manipulationmentioning

confidence: 99%

Shape-Env - Camera-enhanced robotic terrain-shaping for complex 3D concrete printing

Breseghello,

Talaei,

Florenzano

et al. 2023

eCAADe Proceedings

View full text Add to dashboard Cite

Accounting for over 40% of global waste, the construction industry needs innovative approaches to reduce its environmental impact. Excavation soil is currently considered waste and disposed of in landfills, accounting for about five times household waste and being the most significant source by volume. However, 80% of the extracted soil from construction sites is estimated to be uncontaminated and could be reused. In parallel, 3D printing of concrete structures with non-standard geometry is still limited by complicated processes, which are challenging to upscale and be used for on-site construction scenarios. This project proactively explores terrain as a resource for automated construction, specifically using unprocessed soil as a reconfigurable moulding material for on-site 3D printing of geometrically complex concrete elements. To do so, a novel robotic process was developed and tested in a laboratory environment, combining highprecision robotic earthwork and 3D printing aided by camera vision to account for the unpredictable behaviour of soil with unknown composition and properties. The method was tested on a proof-of-concept experiment where concrete shell panels of topological complexity were successfully realised, extending the available design space for largescale 3DCP with a reconfigurable, sustainable and low-cost approach.

show abstract

Environment-Aware 3D Concrete Printing through Robot-Vision

Cited by 9 publications

References 8 publications

A review of concrete 3D printed structural members

A review of concrete 3D printed structural members

Reconfigurable Formwork System for Vision-Informed Conformal Robotic 3D Printing

Shape-Env - Camera-enhanced robotic terrain-shaping for complex 3D concrete printing

Contact Info

Product

Resources

About