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

Asbjørn Søndergaard; Jelle Feringa; Toke Nørbjerg; Kasper Steenstrup; David Brander; Jens Graversen; Steen Markvorsen; Andreas Bærentzen; Kiril Petkov; Jesper 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 Nørbjerg, Kasper Steenstrup, David Brander, Jens Graversen, Steen Markvorsen, Andreas Bærentzen, Kiril Petkov, Jesper Hattel, Kenn Clausen, Kasper Jensen, Lars Knudsen, Jacob Kortbek

Publications: Chapter in Book/Report/Conference proceeding › Article in proceedings › 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, Arts & Design 2016
Editors	Dagmar Reinhardt, Rob Saunders, Jane Burry
Number of pages	15
Place of Publication	Wien
Publisher	Springer
Publication date	4 Feb 2016
Pages	150-164
Chapter	Part II
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 - 4 Feb 2016
Event	RobArch 2016: Robotic fabrication in architecture, art and design. - Sydney, Australia Duration: 14 Mar 2016 → 19 Mar 2016 http://www.robarch2016.org/

Conference

Conference	RobArch 2016: Robotic fabrication in architecture, art and design.
Country/Territory	Australia
City	Sydney
Period	14/03/2016 → 19/03/2016
Internet address	http://www.robarch2016.org/

Keywords

Robotic fabrication
Hot-Blade
EPS formwork
Cost-efficiency
Concrete
structures

Artistic research

No

Access to Document

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

Cite this

Søndergaard, A., Feringa, J., Nørbjerg, T., Steenstrup, K., Brander, D., Graversen, J., Markvorsen, S., Bærentzen, A., Petkov, K., Hattel, J., 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, Arts & Design 2016 (pp. 150-164). Springer. https://doi.org/10.1007/978-3-319-26378-6_11

@inproceedings{dd8ef6738538487f98e3f00b7fe175aa,

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

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 formwork, Cost-efficiency, Concrete, structures",

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

year = "2016",

month = feb,

day = "4",

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

language = "English",

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

pages = "150--164",

editor = "Reinhardt, {Dagmar } and Saunders, {Rob } and Jane Burry",

booktitle = "Robotic Fabrication in Architecture, Arts & Design 2016",

publisher = "Springer",

note = "RobArch 2016: Robotic fabrication in architecture, art and design., RobArch ; Conference date: 14-03-2016 Through 19-03-2016",

url = "http://www.robarch2016.org/",

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Søndergaard, A, Feringa, J, Nørbjerg, T, Steenstrup, K, Brander, D, Graversen, J, Markvorsen, S, Bærentzen, A, Petkov, K, Hattel, J, 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, Arts & Design 2016 . Springer, Wien, pp. 150-164, RobArch 2016: Robotic fabrication in architecture, art and design., Sydney, Australia, 14/03/2016. 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 et al.
Robotic Fabrication in Architecture, Arts & Design 2016 . ed. / Dagmar Reinhardt; Rob Saunders; Jane Burry. Wien: Springer, 2016. p. 150-164.

Publications: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - Robotic Hot-Blade Cutting

T2 - RobArch 2016: Robotic fabrication in architecture, art and design.

AU - Søndergaard, Asbjørn

AU - Feringa, Jelle

AU - Nørbjerg, Toke

AU - Steenstrup, Kasper

AU - Brander, David

AU - Graversen, Jens

AU - Markvorsen, Steen

AU - Bærentzen, Andreas

AU - Petkov, Kiril

AU - Hattel, Jesper

AU - Clausen, Kenn

AU - Jensen, Kasper

AU - Knudsen, Lars

AU - Kortbek, Jacob

PY - 2016/2/4

Y1 - 2016/2/4

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 formwork

KW - Cost-efficiency

KW - Concrete

KW - structures

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

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

M3 - Article in proceedings

SN - 978-3-319-26376-2

SP - 150

EP - 164

BT - Robotic Fabrication in Architecture, Arts & Design 2016

A2 - Reinhardt, Dagmar

A2 - Saunders, Rob

A2 - Burry, Jane

PB - Springer

CY - Wien

Y2 - 14 March 2016 through 19 March 2016

ER -

Søndergaard A, Feringa J, Nørbjerg T, Steenstrup K, Brander D, Graversen J et al. Robotic Hot-Blade Cutting: An Industrial Approach to Cost-Effective Production of Double Curved Concrete Structures. In Reinhardt D, Saunders R, Burry J, editors, Robotic Fabrication in Architecture, Arts & Design 2016 . Wien: Springer. 2016. p. 150-164 doi: 10.1007/978-3-319-26378-6_11