Sigrid Brell-Cokcan

Path Planning for Robotic Artistic Stone Surface Production

Traditional artistic stone processing techniques offer vast possibilities for finishing stone products. However, stone processing is physically highly demanding work requiring stamina as well as skill. This makes products expensive to produce and the detailed design only accessible for skilled masons as an efficient communication between designers and masons is difficult. We introduce a robot-based approach to produce “artistic” surfaces for individualized stone products. First, distinctive traditional, manual processing techniques will be introduced and analyzed towards enabling us to specify the necessary requirements of an adaption to an industrial robot. These requirements are then implemented in an automated tool and an automated path planning algorithm. Building upon a visual programming environment we will present an accessible interface that allows the user to apply customizable stone structuring patterns to an individual stone product.

Design of a Novel End-Effector for Kinematic Support in Incremental Sheet Forming

The formability and geometrical accuracy in incremental sheet forming can be increased using a force-controlled support tool. The main problems in using such a kinematic support tool is the positioning of forming and support tools, while maintaining force magnitude and alignment. A new tool for this was developed systematically using a morphological box. It uses a spring controlled rotation of the tool tip to maintain the force. Since the rotation axis is not in line with the tool tip axis and the tool tip can freely rotate around its axis, roll friction conditions can be achieved. The center of gravity of the rotating part of the tool is placed in the rotating axis and the force is therefore independent from the alignment of the tool in space. It has a mechanical stop with locking option in the vertical position and is therefore also fully usable as a forming tool. While the prototype is manually controlled, concepts for a fully automated version have been designed, as well. First tests are in line with results described in literature, showing that direction and magnitude of force have an influence on the formability.

On-Site Robotic Construction Assistance for Assembly Using A-Priori Knowledge and Human-Robot Collaboration

The programming of industrial robots is commonly static and optimized for a clearly defined surrounding. Service robotics on the other hand focuses on working in dynamic and completely unknown environments. Within construction, robotics needs to be able to adapt within dynamic and unstructured environments. However a lot of information is already available from the planning phase. Currently this information is often not used directly or efficiently on the construction site. Using force torque sensors as well as human-robot collaboration in the form of haptic programming we want to enable intuitive on-site robot programming, handle material tolerances of components and detect differences between design and reality to achieve satisfactory quality in assembly tasks.

BIM – TOWARDS THE ENTIRE LIFECYCLE

The goal of Building Information Modeling (BIM) is the integral and comprehensive digital modeling of all properties regarding a building, its planning and construction process as well as maintenance and use. This is combined with the overarching objective within BIM to integrate and support all involved experts aiming towards an improved collaboration. Currently the necessary data often only exists in a very fragmented and uncoordinated way throughout different subsections, as well as planning and construction phases. A lack of organized information management is especially noticeable in finalized built objectives during questions of conversion and refurbishment. BIM tries to mediate between the different views of its users and allows for a coordinated accumulation of data, as well as synchronously keeping the planning status up to date. However, in most cases essential information is missing or not used throughout the complete lifecycle of the building. Consequently, there are clear gaps between the different phases of planning, construction and maintenance. Within this paper, we give an evaluation of applicable methods for data collection and modeling of the actual inventory of components with regard to position, geometry and semantics (e.g. material) for the purpose of a comprehensive and BIM-compliant as-built documentation. This allows the analysis of missing interfaces and data. Considered from a process automation viewpoint, we identify missing BIM data e.g. for assembly processes within construction in order to create a BIM-aided planning process that continues into actual fabrication and construction. Based on this, we discuss possibilities for the implementation of user requirements in order to develop a comprehensive semi-automated decision support tool for BIM users. Primary goal is to provide concepts for the integration of construction processes as well as options for conversion planning and construction of buildings. These targets imply a continuous updating of the BIM models (including the semantic parameters) from a continuous ‘as-built’ acquisition and modeling of the construction progress. While BIM primarily is being discussed as a cooperative working methodology in the new planning of buildings, we also consider the required information for future conversion and refurbishment of the building and the required level of development, in order to complete the lifecycle approach of BIM.

Towards Life Cycle Complete BIM

The goal of Building Information Modelling (BIM) is the integral overarching digital modelling of all properties regarding a building as well as its construction. This is targeted through the integration and support of all involved experts. Due to the interdisciplinary nature of this task, the necessary data often only exists in a very fragmented and uncoordinated way throughout different departments. BIM tries to mediate between the different views of its users and allows for a coordinated accumulation of data, as well as synchronously keeping the planning status up to date. However, in most cases this available information is still not used throughout the complete lifecycle of the building. Clear gaps exist between the different phases of planning, construction as well as use and maintenance. Within this paper we aim to give an overview of possible BIM data, as well as its relevance for construction processes. This is especially considered from a process automation viewpoint, in order to identify the required interfaces as well as missing and irrelevant data for assembly processes within construction. Based on this a BIM informed design to production becomes possible. Primary goal is the development of strategies for the creation of BIM-aided planning processes that continue into actual fabrication and construction and are efficient in terms of time, energy and costs considering changing user demands and the resulting usage requirements. We address the lifecycle of a building using the concept of BIM. Therefore, we also consider the required information for future conversion and refurbishment of the building, in order to complete the lifecycle approach of BIM. Hence, we give a first brief overview of possible techniques for modelling pre-existing buildings within BIM, as well as the required level of detail (LoD). Looking closer at the LoD for different lifecycle phases.

Towards Cloud Informed Robotics

The current construction industry slowly adapts towards the new possibilities created through digitalization. However there still a major gap in the information flow between planning phases and the start of construction. With modern robotics we see a chance to mediate this gap. By using cloud accessible CAD software and linking it directly with a web interface, new means of cloud informed fabrication become possible. Designers can easily obtain feedback regarding recurring issues or design demands. We want to enable users to create their own design based on rules and parameters preselected by the designer. Therefore processes for individual parts require an integrated design. Considering changing user demands and the resulting usage requirements the optimization in the phase of conversion from the user ́s perspective can help the design process. A number of fabrication technology services exist, which allow for mass customized product creation. The required web interfaces used for these kind of services however are created on a case by case basis. Additionally the required production parameters have to be transferred to the production process. An easy flow from parametric design model towards a web interface for user feedback and fabrication as a service was developed and is presented within this

Direct Robot Control with mxAutomation: A New Approach to Simple Software Integration of Robots in Production Machinery, Automation Systems and New Parametric Environments

The industry-crises of the past have made it clear how existentially important it is to have flexible, “living” production facilities. Automation by means of industrial robotics has proven to be a key technology in this regard. However, truly dynamic processes can only be achieved when the robots and the environment to be automated—machines, handling equipment, etc.—are perfectly integrated, both operationally as well as from the operator’s perspective. KUKA’s mxAutomation interface now allows a granular remote operation of the robot in interaction with modern industrial real-time communication—and beyond that also entirely new, flexible workflows from design to production towards fabricating highly customizable products in the creative industry.