Robotic Repair: In-Place 3D Printing for Repair of Building Components Using a Mobile Robot

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandBeitrag in Buch/SammelwerkForschungPeer-Review

Autoren

  • Gido Dielemans
  • Lukas Lachmayer
  • Noor Khader
  • Norman Hack
  • Annika Raatz
  • Kathrin Dörfler

Externe Organisationen

  • Technische Universität München (TUM)
  • Technische Universität Braunschweig
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Titel des SammelwerksSpringer Tracts in Additive Manufacturing
Herausgeber (Verlag)Springer Nature
Seiten156-164
Seitenumfang9
PublikationsstatusElektronisch veröffentlicht (E-Pub) - 11 Juli 2024

Publikationsreihe

NameSpringer Tracts in Additive Manufacturing
BandPart F3258
ISSN (Print)2730-9576
ISSN (elektronisch)2730-9584

Abstract

Through the deployment of a mobile construction robot capable of conducting high-resolution object scanning and precise in situ Additive Manufacturing (AM), we present a novel design-to-fabrication workflow for repairing existing building structures. The integration of AM techniques into context-aware mobile robotic systems enables high-precision in-place fabrication for new construction and for repair of existing structures. The benefits of transferring AM processes on-site extend in relation to tolerance handling, direct manipulation of existing structures, and removing constraints on shape stability compared to pre-fabricated elements by utilizing the context. By incorporating geometrical data obtained through 3D capture methods into the design and planning environment of architects and engineers, a direct interface between the existing building site and the planned digital geometry is created, facilitating accurate design of in-place repair or additions to existing building components. To evaluate this approach, we conducted an experiment in which a mobile robot equipped with a clay extrusion 3D printing system conceptually repaired a set of damaged brick wall segments. This workflow involved capturing the existing context with two levels of resolution: low-resolution 3D scene capture with a depth camera to generate a trajectory for high-resolution scanning, from which a dense point cloud is recorded using a 2D laser profile sensor by following the designated trajectories. This dense point cloud enables the operator to identify both the geometry of the existing brick wall, generate the missing volume, and a print path trajectory that fits the bounds of the volume while considering functional and architectural parameters. The accurate completion of the missing volume was successfully demonstrated by in-place 3D printing using clay extrusion with the mobile robotic system, showing the conceptual effectiveness of the proposed approach.

ASJC Scopus Sachgebiete

Zitieren

Robotic Repair: In-Place 3D Printing for Repair of Building Components Using a Mobile Robot. / Dielemans, Gido; Lachmayer, Lukas; Khader, Noor et al.
Springer Tracts in Additive Manufacturing. Springer Nature, 2024. S. 156-164 (Springer Tracts in Additive Manufacturing; Band Part F3258).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/KonferenzbandBeitrag in Buch/SammelwerkForschungPeer-Review

Dielemans, G, Lachmayer, L, Khader, N, Hack, N, Raatz, A & Dörfler, K 2024, Robotic Repair: In-Place 3D Printing for Repair of Building Components Using a Mobile Robot. in Springer Tracts in Additive Manufacturing. Springer Tracts in Additive Manufacturing, Bd. Part F3258, Springer Nature, S. 156-164. https://doi.org/10.1007/978-3-031-64269-2_20
Dielemans, G., Lachmayer, L., Khader, N., Hack, N., Raatz, A., & Dörfler, K. (2024). Robotic Repair: In-Place 3D Printing for Repair of Building Components Using a Mobile Robot. In Springer Tracts in Additive Manufacturing (S. 156-164). (Springer Tracts in Additive Manufacturing; Band Part F3258). Springer Nature. Vorabveröffentlichung online. https://doi.org/10.1007/978-3-031-64269-2_20
Dielemans G, Lachmayer L, Khader N, Hack N, Raatz A, Dörfler K. Robotic Repair: In-Place 3D Printing for Repair of Building Components Using a Mobile Robot. in Springer Tracts in Additive Manufacturing. Springer Nature. 2024. S. 156-164. (Springer Tracts in Additive Manufacturing). Epub 2024 Jul 11. doi: 10.1007/978-3-031-64269-2_20
Dielemans, Gido ; Lachmayer, Lukas ; Khader, Noor et al. / Robotic Repair : In-Place 3D Printing for Repair of Building Components Using a Mobile Robot. Springer Tracts in Additive Manufacturing. Springer Nature, 2024. S. 156-164 (Springer Tracts in Additive Manufacturing).
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