Robotic Hot-Blade Cutting: An Industrial Approach to Cost-Effective Production of Double Curved Concrete Structures

Asbjørn Søndergaard, Jelle Feringa, Toke Bjerge Nørbjerg, Kasper Hornbak Steenstrup, David Brander, Jens Gravesen, Steen Markvorsen, Jakob Andreas Bærentzen, Kiril Petkov, Jesper Henri Hattel, Kenn Clausen, Kasper Jensen, Lars Knudsen, Jacob Kortbek

Research output: Chapter in Book/Report/Conference proceedingBook chapterResearchpeer-review

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.
Original languageEnglish
Title of host publicationRobotic Fabrication in Architecture, Art and Design 2016
EditorsDagmar Reinhardt, Rob Saunders, Jane Burry
PublisherSpringer
Publication date2016
Pages150-164
ISBN (Print)978-3-319-26376-2
ISBN (Electronic)978-3-319-26378-6
DOIs
Publication statusPublished - 2016

Keywords

  • Robotic fabrication
  • Hot-Blade
  • EPS-molds
  • Cost-efficiency
  • concrete structures

Cite this

Søndergaard, A., Feringa, J., Nørbjerg, T. B., Steenstrup, K. H., Brander, D., Gravesen, J., Markvorsen, S., Bærentzen, J. A., Petkov, K., Hattel, J. H., Clausen, K., Jensen, K., Knudsen, L., & Kortbek, J. (2016). Robotic Hot-Blade Cutting: An Industrial Approach to Cost-Effective Production of Double Curved Concrete Structures. In D. Reinhardt, R. Saunders, & J. Burry (Eds.), Robotic Fabrication in Architecture, Art and Design 2016 (pp. 150-164). Springer. https://doi.org/10.1007/978-3-319-26378-6_11