B 04

Process Control and Adaptive Path Planning for Additive Manufacturing Processes Based on Industrial Robots with an Extended Degree of Freedom

Prof. Dr.-Ing. Annika Raatz, Project leader
Dr.-Ing. André Hürkamp, Project leader

M. Sc. Lukas Lachmayer
M. Sc. Virama Ekanayaka

Summary of B 04

The integration of robot-guided Additive Manufacturing in construction will foster the degree of automation and can thus lead to increased productivity and improved component quality. In this project, a multi-criterion path planning is developed, based on an application process model that includes geometrical data and time-dependent physical material properties. Together with multimodal systems, a sensor-guided control for an adaptive online path planning will be implemented. Further, multimodal sensors and new control strategies are investigated to control cognitive and cooperative autonomous robot units with an extended degree of freedom.

Prof. Dr.-Ing. Annika Raatz

as applicant, she will be responsible for the scientific management and coordination of project B04. In addition to supervising the content of the research assistant, she supports the coordination of the work and represents the project internally and externally as head of the institute.

raatz(at)match.uni-hannover.de

Dr.-Ing. André Hürkamp

is junior research group leader at the IWF. Together with Prof. Raatz, he is responsible for the proposed project and its coordination within the TRR 277. He will guide the IWF-staff related to the project and decide about research actions in terms of numerical investigations and model reduction.

a.huerkamp(at)tu-braunschweig.de

M. Sc. Lukas Lachmayer

is a doctoral researcher for the duration of the research project. He will lead the path planning development
and the implementation of closed loop algorithms as well as the data evaluation within WG Raatz. Moreover,
he will frequently publish the results achieved within the community.

lachmayer(at)match.uni-hannover.de

M. Sc. Virama Ekanayaka

is a doctoral researcher at the IWF. He will be developing finite element models to be used in additive manufacturing. He will lead the implementation of mathematical approaches for model order reduction and work on system sensorization. He will frequently publish the results achieved within the community.

v.ekanayaka(at)tu-braunschweig.de

2019 | Lindemann, H.; Gerbers, R.; Ibrahim, S.; Dietrich, F.; Hermann, E.; Dröder, K., Raatz, A.; Kloft, H.: Development of a Shotcrete 3D-Printing (SC3DP) Technology for Additive Manufacturing of Reinforced Freeform Concrete Structures. In: Digital Concrete, pp. 287-298.

2018 | Ibrahim, S.; Olbrich, A.; Lindemann, H.; Gerbers, R.; Kloft, H.; Dröder, K.; Raatz, A.: Automated Additive Manufacturing of Concrete Structures without Formwork – Concept for Path Planning. In: Proc. 3rd MHI Conference, Erlangen.

2016 | Neudecker, S.; Bruns, C.; Gerbers, R.; Heyn, J.; Dietrich, F.; Dröder, K.; Raatz, A.; Kloft, H.: A New Robotic Spray Technology for Generative Manufacturing of Complex Concrete Structures Without Formwork. In: Procedia CIRP 43, pp. 333–338.

2015 | Hürkamp, A.; Kaliske, M.: A model reduction approach for hyperelastic materials based on Proper Orthogonal Decomposition. In: Proc. Appl. Math. Mech., 15, pp. 203-204.

2015 | Hürkamp, A.; Tanaka, M.; Kaliske, M.: Complex step derivative approximation of consistent tangent operators for viscoelasticity based on fractional calculus. In: M. Comput Mech 56: 1055.

2012 | Dietrich, F.; Löchte, C.; Jeschke, S.; Raatz, A.: An agent-based concept for planning and control of the production of carbon fibre reinforced plastics aircraft structures with mobile production units. In: Production Engineering, vol. 6, pp. 531-539.

2011 | Hürkamp, A.; Lutz, A.; Nackenhorst, U.: Numerical investigations on the fixation of cemented and uncemented endoprostheses. In: Proc. Appl. Math. Mech., 11, pp. 89-90.

2011 | Hourani, H.; Wolters, P.; Hauck, E.; Raatz, A.; Jeschke, S.: A Conceptual Agent-Based Planning Algorithm for the Production of Carbon Fiber Reinforced Plastic Aircrafts by using Mobile Production Units. In: Int. Conf. Intelligent Robotics and Applications, pp. 366-375, Aachen.

2010 | Dietrich, F.; Maaß, J.; Raatz, A.; Hesselbach, J.: RCA562: Control Architecture for Parallel Kinematic Robots. In: Robotic Systems for Handling and Assembly, pp. 315-331.