On-Site Mobile Plastering Robot: A Practical Design Concept

Pritschow, Günter; Kurz, Johannes L.; Zeiher, J.; McCormac, Stephen E.; Dalacker, M.

doi:10.22260/isarc1997/0034

Cited by 7 publications

(4 citation statements)

References 2 publications

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“…Since in 1980s, the automation efforts that aimed to replace manual plastering with robotic building technologies resulted in early stage mobile or static construction robots [4][5][6]. Studies sought to demonstrate the feasibility of a time-and cost-efficient approach to the production of standardized, flat and smooth surfaces, with the use of a robotic arm with multiple degrees of freedom (DoF), equipped with tools that enable plaster to be sprayed, applied or levelled.…”

Section: Relevant Workmentioning

confidence: 99%

See 1 more Smart Citation

Continuous Mobile Thin-Layer On-Site Printing

Jenny

Pietrasik

Sounigo

et al. 2023

Automation in Construction

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Section: Relevant Workmentioning

confidence: 99%

“…The kinematic model of the mobile robot is built using the COMPAS FAB 6 package of the open source, Python-based computational framework COMPAS 7 and visualized in the 3D modeling and visual programming environment Rhino Grashopper 8 (Fig. 3).…”

Section: Software Setupmentioning

confidence: 99%

Continuous Mobile Thin-Layer On-Site Printing

Jenny

Pietrasik

Sounigo

et al. 2023

Automation in Construction

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“…The subject of robotic plastering has been studied for more than 25 years, with early works examining manipulator design, mapping, and navigation for robotic plaster spraying [4], [5]. Another early work holistically analyzes different mechanical components required when designing a plastering robot, e.g., the manipulator end-effector [2]. Much of the literature on robotic plastering investigates mechanical design and lowlevel control of the manipulator and end-effector [6], [7], [8].…”

Section: A Related Workmentioning

confidence: 99%

“…D ESPITE the construction industry being slow to adopt innovation, the field of construction robots has seen significant growth in recent years due to the potential economic, operational, and environmental benefits of bringing automation to the building site [1]. Plasterwork is a very common task in construction due to various desirable properties of plaster, including fire protection, heat and humidity regulation, and aesthetics [2], [3]. The common process for plastering is to first coarsly apply plaster onto the surface and afterwards iteratively spreading the material using a plastering trowel until the desired surface is obtained.…”

Section: Introductionmentioning

confidence: 99%

PLASTR: Planning for Autonomous Sampling-Based Trowelling

Kuhlmann-Jørgensen,

Pankert,

Pietrasik

et al. 2023

IEEE Robot. Autom. Lett.

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Plaster is commonly used in the construction industry to finish walls and ceilings, but the application is labor-intensive and physically strenuous, which motivates the need for automation. We present PLASTR, a receding horizon optimization-based planning algorithm for robotic plaster trowelling. It samples trowelling sequence rollouts from a new plaster simulator and weights them according to the flatness of the finished wall. The proposed simulator approximates the real-world plastertrowel interaction adequately while allowing execution orders of magnitude faster than real-time. We evaluate PLASTR in simulation and on a real-world test setup and compare it to two handcrafted heuristic baseline algorithms. PLASTR performs equal to or better than the best heuristic in terms of material coverage for both simulated and real-world experiments while being 50 % more efficient in terms of trowelled distance.

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Robotic on-site adaptive thin-layer printing: Challenges and workflow for design and fabrication of bespoke cementitious plasterwork at full architectural scale

Jenny

Mitterberger

Lloret-Fritschi

et al. 2022

Archit. Struct. Constr.

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This paper describes the 1:1 scale application of Robotic Plaster Spraying (RPS), a novel, adaptive thin-layer printing technique, using cementitious base coat plaster, realized in a construction setting. In this technique, the print layers are vertical unlike most 3DCP processes. The goal is to explore the applicability and scalability of this spray-based printing technique. In this study, RPS is combined with an augmented interactive design setup, the Interactive Robotic Plastering (IRoP), which allows users to design directly on the construction site, taking the building structure, as-built state of the on-going fabrication and the material behavior into consideration. The experimental setup is an on-site robotic system that consists of a robotic arm mounted on a semi-mobile vertical axis with an integrated, automated pumping and adaptive spraying setup that is equipped with a depth camera. The user interaction is enabled by a controller-based interaction system, interactive design tools, and an augmented reality interface. The paper presents the challenges and the workflow that is needed to work with a complex material system on-site to produce bespoke plasterwork. The workflow includes an interactive design procedure, localization on-site, process control and a data collection method that enables predicting the behavior of complex-to-simulate cementitious material. The results demonstrate the applicability and scalability of the adaptive thin-layer printing technique and address the challenges, such as maintaining material continuity and working with unpredictable material behavior during the fabrication process.

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On-Site Mobile Plastering Robot: A Practical Design Concept

Cited by 7 publications

References 2 publications

Continuous Mobile Thin-Layer On-Site Printing

Continuous Mobile Thin-Layer On-Site Printing

PLASTR: Planning for Autonomous Sampling-Based Trowelling

Robotic on-site adaptive thin-layer printing: Challenges and workflow for design and fabrication of bespoke cementitious plasterwork at full architectural scale

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