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

doi:10.1007/978-3-319-26378-6_11

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 proceeding › Book chapter › Research › peer-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 language	English
Title of host publication	Robotic Fabrication in Architecture, Art and Design 2016
Editors	Dagmar Reinhardt, Rob Saunders, Jane Burry
Publisher	Springer
Publication date	2016
Pages	150-164
ISBN (Print)	978-3-319-26376-2
ISBN (Electronic)	978-3-319-26378-6
DOIs	https://doi.org/10.1007/978-3-319-26378-6_11
Publication status	Published - 2016

Keywords

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

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10.1007/978-3-319-26378-6_11

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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

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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{\textquoteright}s curvature. The blade follows the contours of the rationalized surface by continuous change in position and orientation of the end-effectors. The concept{\textquoteright}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",

author = "Asbj{\o}rn S{\o}ndergaard and Jelle Feringa and N{\o}rbjerg, {Toke Bjerge} and Steenstrup, {Kasper Hornbak} and David Brander and Jens Gravesen and Steen Markvorsen and B{\ae}rentzen, {Jakob Andreas} and Kiril Petkov and Hattel, {Jesper Henri} and Kenn Clausen and Kasper Jensen and Lars Knudsen and Jacob Kortbek",

year = "2016",

doi = "10.1007/978-3-319-26378-6_11",

language = "English",

isbn = "978-3-319-26376-2",

pages = "150--164",

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Søndergaard, A, Feringa, J, Nørbjerg, TB, Steenstrup, KH, Brander, D , Gravesen, J , Markvorsen, S , Bærentzen, JA, Petkov, K, Hattel, JH, 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. Springer, pp. 150-164. https://doi.org/10.1007/978-3-319-26378-6_11

Robotic Hot-Blade Cutting: An Industrial Approach to Cost-Effective Production of Double Curved Concrete Structures. / Søndergaard, Asbjørn ; Feringa, Jelle ; Nørbjerg, Toke Bjerge et al.
Robotic Fabrication in Architecture, Art and Design 2016. ed. / Dagmar Reinhardt; Rob Saunders; Jane Burry. Springer, 2016. p. 150-164.

Research output: Chapter in Book/Report/Conference proceeding › Book chapter › Research › peer-review

TY - CHAP

T1 - Robotic Hot-Blade Cutting

T2 - An Industrial Approach to Cost-Effective Production of Double Curved Concrete Structures

AU - Søndergaard, Asbjørn

AU - Feringa, Jelle

AU - Nørbjerg, Toke Bjerge

AU - Steenstrup, Kasper Hornbak

AU - Brander, David

AU - Gravesen, Jens

AU - Markvorsen, Steen

AU - Bærentzen, Jakob Andreas

AU - Petkov, Kiril

AU - Hattel, Jesper Henri

AU - Clausen, Kenn

AU - Jensen, Kasper

AU - Knudsen, Lars

AU - Kortbek, Jacob

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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.

KW - Robotic fabrication

KW - Hot-Blade

KW - EPS-molds

KW - Cost-efficiency

KW - concrete structures

U2 - 10.1007/978-3-319-26378-6_11

DO - 10.1007/978-3-319-26378-6_11

M3 - Book chapter

SN - 978-3-319-26376-2

SP - 150

EP - 164

BT - Robotic Fabrication in Architecture, Art and Design 2016

A2 - Reinhardt, Dagmar

A2 - Saunders, Rob

A2 - Burry, Jane

PB - Springer

ER -

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

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Keywords

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