Mobile Robotics for Additive Manufacturing in Construction (MAM)

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for Additive Manufacturing in Construction (MAM), AMC Phase 1 </h2> <div class="ce-textpic ce-center ce-above" > <div class="ce-gallery " data-ce-columns="1" data-ce-images="1" > <div class="ce-outer"> <div class="ce-inner"> <figure class="image"> <picture><source media="(min-width: 1400px)" srcset="/fileadmin/_processed_/5/3/csm_mobile_extrusion_scenario_16-9_f700cbcd4d.webp" type="image/webp"><source srcset="/fileadmin/_processed_/5/3/csm_mobile_extrusion_scenario_16-9_f26cefdb49.webp 1129w, /fileadmin/_processed_/5/3/csm_mobile_extrusion_scenario_16-9_b27c8977de.webp 864w, /fileadmin/_processed_/5/3/csm_mobile_extrusion_scenario_16-9_1986ae9c2e.webp 656w, /fileadmin/_processed_/5/3/csm_mobile_extrusion_scenario_16-9_977a27301f.webp 481w " sizes=" (min-width: 1200px) 1129px, (min-width: 768px) 864px, calc(100vw - 24px)" type="image/webp"><img class="image-embed-item" loading="lazy" src="/fileadmin/_processed_/5/3/csm_mobile_extrusion_scenario_16-9_63542436fb.webp" width="1176" height="662" alt="" /></picture> <figcaption class="image-caption">Mobile Additive Manufacturing (MAM) Szenario für die mobile teil-basierte Extrusion von Schalungen</figcaption> </figure> </div> </div> </div> <div class="ce-bodytext"> <p> </p> <p>This research examines the architectural implications of mobile robotics for AM in construction and develops methods for their implementation. The material deposition method of concrete extrusion is used to investigate mobile part-based AM strategies to produce large objects whose size exceeds the static workspace of the robot. By implementing advanced sensor and control solutions, autonomous localization and precise manipulation techniques for mobile AM are explored. In addition, this research aims to provide scalability to AM processes by examining the use of cooperative robots to collaborate on single fabrication jobs. The ultimate aim of this research is to develop mobile AM technology for its direct implementation on construction sites.</p> <p><strong> Collaborators</strong></p><ul> <li><a href="/en/df/team/gido-dielemans/" class="internal-link">Gido Dielemans</a></li> </ul><p><strong> In cooperation with</strong></p><ul> <li>Institute of Assembly Technology (Prof. Dr.-Ing. Annika Raatz) Faculty of Mechanical Engineering, Leibniz University Hannover</li> <li>Chair of Materials Science and Testing (Prof. Dr.-Ing. Christoph Gehlen), TUM</li> <li>Institute of Construction Engineering and Management (Prof. Dr.-Ing. Patrick Schwerdtner), TUBS</li> <li>Institute of Geodesy and Photogrammetry (Prof. Dr.-Ing. Markus Gerke), TUBS</li> <li>Institute of Structural Design / Junior Professorship for Digital Building Fabrication (Prof. Dr. sc. ETH Zurich Norman Hack), TUBS</li> </ul><p><strong> Funding programme</strong></p> <p>This research is supported by the German Research Foundation (DFG) – project number 414265976 –<br> <a href="https://amc-trr277.de/" target="_top" class="external-link">Collaborative Research Centre Transregio 277 "Additive Manufacturing in Construction"</a></p> <p><strong> Duration</strong></p><ul> <li>2020-2024</li> </ul><p><strong> Publications</strong></p> </div> </div> </div> <div id="c59583" class="frame frame-type-textmedia frame-layout-0"> <div class="ce-textpic ce-left ce-intext ce-nowrap ce-textpic-equalheight" > <div class="ce-gallery " data-ce-columns="1" data-ce-images="1" > <figure class="image"> <picture><img class="image-embed-item" loading="lazy" src="/fileadmin/_processed_/7/1/csm_RoboticRepair_square-01_ce1a35e53c.webp" width="149" height="150" alt="" /></picture> </figure> </div> <div class="ce-bodytext"> <p><strong>Robotic Repair:<br> In-Place 3D Printing for Repair of Building Components Using a Mobile Robot</strong></p> <p><em>G. Dielemans, L. Lachmayer, N.Khader, N. Hack, A. Raatz, and K. Dörfler</em><br> In: Construction 3D Printing. 3DcP 2023. Springer Tracts in Additive Manufacturing.<br> <strong>2024</strong></p> <p><a href="https://doi.org/10.1007/978-3-031-64269-2_20" target="_top">DOI</a>   </p> </div> </div> </div> <div id="c59582" class="frame frame-type-textmedia frame-layout-0"> <div class="ce-textpic ce-left ce-intext ce-nowrap ce-textpic-equalheight" > <div class="ce-gallery " data-ce-columns="1" data-ce-images="1" > <figure class="image"> <picture><img class="image-embed-item" loading="lazy" src="/fileadmin/_processed_/4/0/csm_UpscalingEarthFormworks_square-01_c94e9fd6b1.webp" width="149" height="150" alt="" /></picture> </figure> </div> <div class="ce-bodytext"> <p><strong>Upscaling earth formworks:<br> 3D printing strategies for material optimised reinforced concrete structures</strong></p> <p><em>S. Cutajar, G. Dielemans, E. Krakovska, E. Dorresteijn, I. Mai, D. Lowke, K. Dörfler, E. Lloret-Fritschi</em><br> Construction Robotics 8, 3(2024)<br> <strong>2024</strong></p> <p><a href="https://doi.org/10.1007/s41693-024-00120-2" target="_top">DOI</a>   </p> </div> </div> </div> <div id="c45794" class="frame frame-type-textmedia frame-layout-0"> <div class="ce-textpic ce-left ce-intext ce-nowrap ce-textpic-equalheight" > <div class="ce-gallery " data-ce-columns="1" data-ce-images="1" > <figure class="image"> <picture><img class="image-embed-item" loading="lazy" src="/fileadmin/_processed_/9/c/csm_mam_a1c8545a3d.webp" width="150" height="150" alt="" /></picture> </figure> </div> <div class="ce-bodytext"> <p><strong>Additive Manufacturing using mobile robots:<br> Opportunities and challenges for building construction</strong></p> <p><em>Dörfler, K.; G. Dielemans, L. Lachmayer, T. Recker, A. Raatz, D. Lowke and M. Gerke</em><br> Cement and Concrete Research: Special issue SI: Digital Concrete (Status: published)<br> <strong>2022</strong></p> <p><a href="https://doi.org/10.1016/j.cemconres.2022.106772" target="_top">DOI</a>    <a href="https://reader.elsevier.com/reader/sd/pii/S0008884622000631?token=B59576DC6B32B2A7E0EBAC99EB2A35030ABCC10CA8210A2FCE918B4204D354649BA978639090DD38011BC2B2999456A2&originRegion=eu-west-1&originCreation=20220817130916" target="_blank" rel="noreferrer">PDF</a>   </p> <p> </p> </div> </div> </div> <div id="c59581" class="frame frame-type-textmedia frame-layout-0"> <div class="ce-textpic ce-left ce-intext ce-nowrap ce-textpic-equalheight" > <div class="ce-gallery " data-ce-columns="1" data-ce-images="1" > <figure class="image"> <picture><img class="image-embed-item" loading="lazy" src="/fileadmin/_processed_/6/a/csm_ISPRS_square-01_d66cec12f1.webp" width="149" height="150" alt="" /></picture> </figure> </div> <div class="ce-bodytext"> <p><strong>Autonomous sensing and localization of a mobile robot for multi-step additive manufacturing in construction</strong></p> <p><em>L. Lachmayer, T. Recker, G. Dielemans, K. Dörfler, and A. Raatz</em><br> <em>The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences</em>, <em>XLIII</em>-<em>B1</em>-<em>2</em>(B1-2022), 453–458.<br> <strong>2022</strong></p> <p><a href="https://doi.org/10.5194/isprs-archives-XLIII-B1-2022-453-2022" target="_top">DOI</a>   </p> </div> </div> </div> <div id="c44715" class="frame frame-type-textmedia frame-layout-0"> <div class="ce-textpic ce-left ce-intext ce-nowrap ce-textpic-equalheight" > <div class="ce-gallery js-colorbox" data-ce-columns="1" data-ce-images="1" > <figure class="image"> <a href="/fileadmin/w00cgv/df/pics/Final_painting_example-02-01_square.jpg" data-fancybox="gallery44715" data-media="(max-width: 520px);(max-width: 767px);(max-width: 1199px);(max-width: 1399px);(min-width: 1400px)" data-sources="/fileadmin/_processed_/a/7/csm_Final_painting_example-02-01_square_bc6ccacf8c.jpg; /fileadmin/_processed_/a/7/csm_Final_painting_example-02-01_square_66fdf47a22.jpg; /fileadmin/_processed_/a/7/csm_Final_painting_example-02-01_square_a825a4ba32.jpg; /fileadmin/_processed_/a/7/csm_Final_painting_example-02-01_square_9db051102b.jpg; /fileadmin/_processed_/a/7/csm_Final_painting_example-02-01_square_f98670cff8.jpg " data-caption="" aria-label=" Open gallery here" class="ti ti-link-zoom"> <picture><img class="image-embed-item" loading="lazy" src="/fileadmin/_processed_/a/7/csm_Final_painting_example-02-01_square_3588067565.webp" width="150" height="150" alt="" /></picture> </a> </figure> </div> <div class="ce-bodytext"> <p><strong>Mobile Additive Manufacturing: A robotic system for cooperative on-site construction</strong></p> <p><em>Dielemans, G.; K. Dörfler</em><br> IROS 2021 Workshop: <em>Robotic Fabrication: Sensing in Additive Construction</em><br> <strong>2021</strong><br> <br> <a href="https://www.researchgate.net/publication/356343041_Mobile_Additive_Manufacturing_-_A_robotic_system_for_cooperative_on-site_construction" target="_top" class="external-link">PDF</a> </p> <p> </p> </div> </div> </div> <div id="c44714" class="frame frame-type-textmedia frame-layout-0"> <div class="ce-textpic ce-left ce-intext ce-nowrap ce-textpic-equalheight" > <div class="ce-gallery js-colorbox" data-ce-columns="1" data-ce-images="1" > <figure class="image"> <a href="/fileadmin/w00cgv/df/pics/lightstructure.JPG" data-fancybox="gallery44714" data-media="(max-width: 520px);(max-width: 767px);(max-width: 1199px);(max-width: 1399px);(min-width: 1400px)" data-sources="/fileadmin/_processed_/9/a/csm_lightstructure_e0305f5969.jpg; /fileadmin/w00cgv/df/pics/lightstructure.JPG; /fileadmin/w00cgv/df/pics/lightstructure.JPG; /fileadmin/w00cgv/df/pics/lightstructure.JPG; /fileadmin/w00cgv/df/pics/lightstructure.JPG " data-caption="" aria-label=" Open gallery here" class="ti ti-link-zoom"> <picture><img class="image-embed-item" loading="lazy" src="/fileadmin/_processed_/9/a/csm_lightstructure_348b54ea36.webp" width="157" height="150" alt="" /></picture> </a> </figure> </div> <div class="ce-bodytext"> <p><strong>Additive Manufacturing of Thermally Enhanced Lightweight Concrete Wall Elements with Closed Cellular Structures</strong></p> <p><em>Dielemans, G.; D. Briels, F. Jaugstetter, K. Henke, and K. Dörfler</em><br> JFDE (Journal of Facade Design and Engineering): Special issue PowerSkin 2021<br> <strong>2021</strong><br> <br> <a href="https://doi.org/10.7480/jfde.2021.1.5418" target="_top" class="external-link">DOI</a>    <a href="https://journals.open.tudelft.nl/jfde/article/view/5418" target="_top" class="external-link">PDF</a>   <a href="https://vimeo.com/manage/videos/424727957" target="_top" class="external-link">VIDEO</a><br>  </p> </div> </div> </div> </div> <div class="c-link-to-top js-link-to-top"> <a href="#topbar" title="go back to the top of the page"> To top </a> </div> </div> </div> </div> </main> <footer class="c-footer"> <div class="c-footer__legal"> <nav class="container" aria-label="legal links"> <ul class="list-inline"><li class="list-inline-item"><a href="/en/df/datenschutz/">Privacy</a></li><li class="list-inline-item"><a href="/en/df/impressum/">Imprint</a></li><li class="list-inline-item"><a href="/en/df/barrierefreiheit/">Accessibility</a></li></ul> <img aria-hidden="true" src="https://tum.de/hsts/default" height="1" width="1" /> </nav> </div> </footer> <script type="module" src="/_frontend/sitetum/bundled/assets/main-SUBUziTd.js?1739779920"></script> <script type="module" src="/_frontend/sitetum/bundled/assets/fancybox-Db8kzSN4.js?1739779920"></script> <script data-ignore="1" data-dp-cookiedesc="layout" nonce="uCSwdHENfhxWEYAzoCEtjgeq9WlOwAZ_oYWuIB7dlrn6t91vWy_RXw" type="text/plain"> This website uses cookies to accelerate usability. <a aria-label="learn more about cookies" class="cc-link" href="/en/df/datenschutz/#AktiveKomponenten" rel="noopener noreferrer nofollow" target="_blank" > More information </a> </script> <script data-ignore="1" data-dp-cookieselect="layout" nonce="uCSwdHENfhxWEYAzoCEtjgeq9WlOwAZ_oYWuIB7dlrn6t91vWy_RXw" type="text/plain"> <div class="dp--cookie-check" xmlns:f="http://www.w3.org/1999/html"> <label for="dp--cookie-required"> <input class="dp--check-box" id="dp--cookie-required" tabindex="-1" type="checkbox" name="" value="" checked disabled> necessary </label> <label for="dp--cookie-statistics"> <input class="dp--check-box" id="dp--cookie-statistics" tabindex="1" type="checkbox" name="" value=""> statistics </label> </div> </script> <script data-ignore="1" data-dp-cookierevoke="layout" nonce="uCSwdHENfhxWEYAzoCEtjgeq9WlOwAZ_oYWuIB7dlrn6t91vWy_RXw" type="text/plain"> <button type="button" aria-label="revoke cookie consent" class="dp--revoke {{classes}}" > <i class="dp--icon-fingerprint"></i> <span class="dp--hover">Cookie Policy</span> </button> </script> <script data-ignore="1" data-dp-cookieiframe="layout" nonce="uCSwdHENfhxWEYAzoCEtjgeq9WlOwAZ_oYWuIB7dlrn6t91vWy_RXw" type="text/plain"> <div class="dp--overlay-inner" data-nosnippet> <div class="dp--overlay-header">{{notice}}</div> <div class="dp--overlay-description">{{desc}}</div> <div class="dp--overlay-button"> <button class="db--overlay-submit" onclick="window.DPCookieConsent.forceAccept(this)" data-cookieconsent="{{type}}"> {{btn}} </button> </div> </div> </script> <script data-ignore="1" nonce="uCSwdHENfhxWEYAzoCEtjgeq9WlOwAZ_oYWuIB7dlrn6t91vWy_RXw" type="text/javascript"> window.cookieconsent_options = { overlay: { notice: true, box: { background: 'rgba(48,112,179,.75)', text: '#fff' }, btn: { background: '#b81839', text: '#fff' } }, content: { message:'This website uses cookies to accelerate usability.', dismiss:'allow cookies', allow:'save', deny: 'necessary <span></span>cookies', link:'More information', href:'/en/df/datenschutz/', target:'_blank', 'allow-all': 'all cookies', config: 'customize', 'config-header': 'Customize Consent Preferences', cookie: 'Cookies', duration: 'Duration', vendor: 'Vendor', media: { notice: 'Cookie Notice', desc: 'Loading this resource will connect to external servers which use cookies and other tracking technologies to personalize and improve experience. 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Mobile Robotics for Additive Manufacturing in Construction (MAM) - Professorship of Digital Fabrication