Robotic mechanical design for brick-laying automation

Dakhli, Zakaria; Lafhaj, Zoubeir

doi:10.1080/23311916.2017.1361600

Cited by 53 publications

(24 citation statements)

References 21 publications

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“…Ground robotic construction is more mature [36], with solutions that propose the use of a ground robot with a manipulator, e.g., wheeled robots [35,19,22] and tracked robots [15,24]. The first construction projects involved building brick walls [3,7] and only few years ago, Sam100 robot became the first commercially viable bricklaying robot [14]. More recently, Sustarevas et al [43] proposed a mobile robot for 3D printing large structures.…”

Section: B Robotic Constructionmentioning

confidence: 99%

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Lensgraf¹,

Sniffen²,

Zitzewitz

et al. 2021

Robotics: Science and Systems XVII

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This paper presents a first low-cost autonomous robotic system for underwater assembly of mortarless structures. The long-term goal is to enable the construction of large-scale underwater structures, such as retaining walls and artificial reefs. The approach follows the principle of co-design; the 2-DOF manipulator and blocks are designed to complement the localization and control strategies. The blocks and gripper are designed with a connector geometry that removes error during pickup of blocks and drop assembly. This error correction feature allows a simplification of localization and control, which are based on fiducial markers on custom platforms. We developed the proposed system on a low-cost heavily modified BlueROV2 autonomous vehicle -which we call Droplet -with a two-degree of freedom hand that can open and close a gripper and rotate over the yaw. We performed extensive experiments in the pool to evaluate each component and the system as a whole. Results showed a 100 % success rate in dropping blocks in the presence of some localization and control errors as well as the assembly of several different 3D structures composed of up to eight blocks.

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Section: B Robotic Constructionmentioning

confidence: 99%

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Lensgraf¹,

Sniffen²,

Zitzewitz

et al. 2021

Robotics: Science and Systems XVII

View full text Add to dashboard Cite

show abstract

“…Recent progress has been made in construction robots that can assist in building large scale structures. Examples include: robot arms to construct brick [11] and steel reinforced walls [12], human-robot collaborative brick layers [13], and robot arms that can spin carbon-fibre pavilions on-site [14]. More widely, conventional industrial robots have been used to reduce labour costs by automating a variety of tasks including concrete spraying, surface finishing, installation of glass panels and joint welding tasks.…”

Section: A Mobile Multi-robot Construction Systemsmentioning

confidence: 99%

YouWasps: Towards Autonomous Multi-Robot Mobile Deposition for Construction

Sustarevas

Tan

Gerber

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Mobile multi-robot construction systems offer new ways to optimise the on-site construction process. In this paper we begin to investigate the functionality requirements for controlling a team of robots to build structures much greater than their individual workspace. To achieve these aims, we present a mobile extruder robot called YouWasp. We also begin to explore methods for collision aware printing and construction task decomposition and allocation. These are deployed via YouWasp and enable it to deposit material autonomously. In doing so, we are able to evaluate the potential for parallelization of tasks and printing autonomy in simulation as well as physical team of robots. Altogether, these results provide a foundation for future work that enable fleets of mobile construction systems to cooperate and help us shape our built environment in new ways.

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“…The proposed system is capable of gripping, handling, and releasing a building block, applying adhesive, and determining the pose of a supply block in-process. This is more like brick laying robot [4] but with a much smaller brick. The paper presents (1) the system that is used in the project, (2) how gripper, extruder, and camera are calibrated, (3) the vision routine, (4) the CAD-fabrication workflow.…”

Section: Introductionmentioning

confidence: 99%

A Novel Digital Discrete Manufacturing to Build up a 3D-Object

Sithiwichankit¹,

Chancharoen²

2020

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The paper present novel digital fabrication process that assembles building blocks to create a three-dimensional object. The system consists of an assembly robot and a fabrication head installed at its tip. The head, consists of a vacuum gripper, an adhesive extruder, and a camera, and is thus capable of gripping and releasing a building block, applying an adhesive, and determination of the position of things in the process. The calibration process and the design and build workflow for this technique are mentioned in the paper. The process is a discrete fixtureless manufacturing process that gives faster speed, compared to both additive and subtractive manufacturing processes. Tiny mosaic pieces are used as building blocks and fabrication of a curved bridge model is used to demonstrate how this process works and its performance.

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Robotic mechanical design for brick-laying automation

Cited by 53 publications

References 21 publications

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

YouWasps: Towards Autonomous Multi-Robot Mobile Deposition for Construction

A Novel Digital Discrete Manufacturing to Build up a 3D-Object

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