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Automated Fabrication of Reinforcement Cages Using a Robotized Production Cell (2021-11)

10.1016/j.autcon.2021.103990

 Momeni Mahdi,  Relefors Johan,  Khatry Abubakar,  Pettersson Lars,  Papadopoulos Alessandro,  Nolte Thomas
Journal Article - Automation in Construction, Vol. 133

Abstract

Unlike what is common in the traditional manufacturing industry, the structures in the construction industry are often one of a kind. The goal of this work is to provide a real-world compatible fully automated gantry-robot system for flexible serial production of custom-made reinforcement cages. This can lead to increased efficiency, productivity, and sustainability, not to mention the positive impact on labour safety as well as decreased environmental impact. In this paper, we present a solution utilizing three industrial robots mounted on a gantry structure for automatic generation of robot paths for moving, placing, and tying rebars. Moreover, we present how a 3D BIM-model of a rebar cage, along with installation instructions such as the order in which the bars should be installed, are transferred into CoppeliaSim. This proof-of-concept implementation is an important milestone indicating the feasibility of our proposed robotic solution for the automated fabrication of one-of-akind reinforcement cages.

5 References

  1. Asprone Domenico, Menna Costantino, Bos Freek, Salet Theo et al. (2018-06)
    Rethinking Reinforcement for Digital Fabrication with Concrete
  2. Hack Norman, Dörfler Kathrin, Walzer Alexander, Wangler Timothy et al. (2020-03)
    Structural Stay-in-Place Formwork for Robotic In-Situ Fabrication of Non-Standard Concrete Structures:
    A Real-Scale Architectural Demonstrator
  3. Kontovourkis Odysseas, Tryfonos George (2019-11)
    Robotic 3D Clay Printing of Prefabricated Non-Conventional Wall Components Based on a Parametric-Integrated Design
  4. Martins Pedro, Sousa José (2014-09)
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3 Citations

  1. Dörrie Robin, Megnet Manuel, David Martin, Dröder Klaus et al. (2025-12)
    Integration of Discrete Reinforcement Elements for Shotcrete 3D Printing of Complex Structures
  2. Yue Hongzhe, Wang Qian, Zhao Zixuan, Lai Sha et al. (2025-04)
    Interactions Between BIM and Robotics:
    Towards Intelligent Construction Engineering and Management
  3. Curth Alexander, Pearl Natalie, Wissemann Emily, Cousin Tim et al. (2024-09)
    EarthWorks:
    Zero-Waste 3D Printed Earthen Formwork for Shape-Optimized, Reinforced Concrete Construction

BibTeX 
@article{mome_rele_khat_pett.2022.AFoRCUaRPC,
  author            = "Mahdi Momeni and Johan Relefors and Abubakar Khatry and Lars Pettersson and Alessandro Vittorio Papadopoulos and Thomas Nolte",
  title             = "Automated Fabrication of Reinforcement Cages Using a Robotized Production Cell",
  doi               = "10.1016/j.autcon.2021.103990",
  year              = "2022",
  journal           = "Automation in Construction",
  volume            = "133",
}
Formatted Citation

M. Momeni, J. Relefors, A. Khatry, L. Pettersson, A. V. Papadopoulos and T. Nolte, “Automated Fabrication of Reinforcement Cages Using a Robotized Production Cell”, Automation in Construction, vol. 133, 2022, doi: 10.1016/j.autcon.2021.103990.

Momeni, Mahdi, Johan Relefors, Abubakar Khatry, Lars Pettersson, Alessandro Vittorio Papadopoulos, and Thomas Nolte. “Automated Fabrication of Reinforcement Cages Using a Robotized Production Cell”. Automation in Construction 133 (2022). https://doi.org/10.1016/j.autcon.2021.103990.