Browsing by Author "Cabay, Edouard"
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Item Large-scale 3D printing with cable-driven parallel robots(2017-08-30) Izard, Jean-Baptiste; Dubor, Alexandre; Hervé, Pierre-Elie; Cabay, Edouard; Culla, David; Rodriguez, Mariola; Barrado, Mikel; Tecnalia Research & InnovationGantry robots and anthropomorphic arms of various sizes have already been studied and, while they are in use in some parts of the world for automated construction, a new kind of wide workspace machinery, cable-driven parallel robots (CDPR), has emerged. These robots are capable of automated movement in a very wide workspace, using cables reeled in and out by winches as actuation members, the other elements being easily stacked for easy relocation and reconfiguration, which is critical for on-site construction. The motivation of this paper is to showcase the potential of a CDPR operating solely on motor position sensors and showing limited collisions from the cables for large-scale applications in the building industry relevant for additive manufacturing, without risk of collisions between the cables and the building. The combination of the Cogiro CDPR (Tecnalia, LIRMM-CNRS 2010) with the extruder and material of the Pylos project (IAAC 2013) opens the opportunity to a 3D printing machine with a workspace of 13.6 × 9.4 × 3.3 m. The design patterns for printing on such a large scale are disclosed, as well as the modifications that were necessary for both the Cogiro robot and Pylos extruder and material. Two prints, with different patterns, have been achieved with the Pylos extruder mounted on Cogiro: the first spanning 3.5 m in length, the second, reaching a height of 0.86 m. Based on this initial experiment, plans for building larger parts and buildings are discussed, as well as other possible applications for CDPRs in construction, such as the manipulation of assembly processes (windows, lintels, beams, floor elements, curtain wall modules, etc.) or brick laying.Item Negotiating design for On Site Robotics(2018) Dubor, Alexandre; Cabay, Edouard; Izard, Jean-Baptiste; Sollazzo, Aldo; Markopoulou, Areti; Tecnalia Research & InnovationOn Site Robotics is a collaborative project which demonstrates the potentials of additive manufacturing technology and robotics in the production of sustainable low-cost buildings that can be fabricated built on site with 100% natural materials. Combining technological advances in robotics (cable robot and drones), natural materials and Computational Design, The project demonstrate the possibility to bring automation to the construction site, as well as allowing the production of high-performance buildings and their monitoring in real-time during the construction.Item On the Improvements of a Cable-Driven Parallel Robot for Achieving Additive Manufacturing for Construction(Springer International Publishing, 2017-07-06) Izard, Jean-Baptiste; Dubor, Alexandre; Hervé, Pierre-Elie; Cabay, Edouard; Culla, David; Rodriguez, Mariola; Barrado, Mikel; Bruckmann, Tobias; Gosselin, Clement; Cardou, Philippe; Pott, Andreas; Tecnalia Research & Innovation; ROBOTICA_AUTOMA; MAQUINAS; SGGeneralization of additive manufacturing has led to consider this technological solution for more and more challenging use cases. Porting this technology to construction industry is a major step to overcome. Most of the recent research deal with materials, construction and extrusion techniques. Positioning of the extruder or material handler is mostly carried out by standard anthropomorphic robots or large-scale gantries. Cable-driven parallel robots (CDPR) can be an efficient alternative to these positioning solutions, being capable of automated motions in six degrees of freedom and easily relocated. The combination of the Cogiro CDPR (Tecnalia, LIRMM-CNRS, 2010) with the extruder and material of the Pylos project (IAAC, 2013), open the opportunity to a 3D printing machine with a workspace of 13.6 × 9.4 × 3.3 m. Two prints, with different patterns, have been achieved with the Pylos extruder mounted on Cogiro, drawing a wire of material of 11 m in width and 3 mm in height: the first spanning 3.5 m in length, the second, reaching a height of 0.86 m. The motivation of this paper is to give an insight to the necessary technical implementations on a CDPR for dealing with additive manufacturing process relevant for construction, in particular acute modelling of the cable and its extension under load, and to showcase the experimental prints carried out by the authors.Item On-Site Robotics for Sustainable Construction(2018) Dubor, Alexandre; Izard, Jean-Baptiste; Cabay, Edouard; Sollazzo, Aldo; Markopoulou, Areti; Rodriguez, Mariola; Tecnalia Research & InnovationAlthough additive and robotic manufacturing, is considered a technology with lots of potentials in the construction industry, its deployment has not yet reached wide applications for on site construction of sustainable architectural structures. This paper focuses on the deployment of a 3D printing technology that combines robotics with natural materials for the construction of environmentally performing small scale buildings. Cable robots are explored for 3D printing with adobe, while drones are explored for real-time monitoring technologies of the construction process. A full scale prototype of the technology has been deployed during 15 days at an international construction fair, demonstrating its potential by producing live a 20 m2 pavilion. The paper describes and discusses the experience, feasibility and limitations of the technology operating on site and in a direct collaboration with human operators and craftsmen. The prototype demonstration presented in the paper has led to the conclusion that there is a significant potential of using the technology for large scale sustainable architectural constructions on-site.