Robotized spraying of prefabricated panels

Abstract

A robotic manufacturing cell of pre-fabricated glass reinforced cement panels for construction industry has been developed by DISAM for the Spanish construction company Dragados, SA. The main contribution of the developed system is the automatic programming and control of the whole plan. The architect's 3D-drawing of the building facade done on a CAD system serves as input. From the CAD design, the optimum facade to panels partition is obtained. In order to manufacture each panel, automatic task and path planning are performed for the equipment present in the manufacturing cell: spraying robot, PLCs, control computer, etcThis work was supported by the construction company Dragados, S.A. and the Spanish Ministry of Industry under project PAUTA 1691/91. The authors thank A. Garcia, E. Pinto, 1. Florez, E. Marquez, C. Corpas, 1. Arauzo and A. Cases, and the staff of the Caracola factory in Torrejon de Ardoz (Madrid). Thanks are also due to Christian Schafer for his assistance with the final manuscript.Publicad