DOI: 10.5281/zenodo.17943868
title: Automated Robotic Assembly Planning of Space Trusses for Injection 3D Concrete Printing - Data

description: README.txt

------------------------------------------------------------1. Title of Dataset------------------------------------------------------------Automated Robotic Assembly Planning of Space Trusses for Injection 3D Concrete Printing - Data

------------------------------------------------------------2. Authors------------------------------------------------------------- Yinan Xiao, Institute of Structural Design, Department of Architecture, Faculty of Architecture, Civil Engineering and Environmental Sciences, Technische Universität Braunschweig, Germany- Aileen Vandenberg, Ph.D., ICC Evaluation Service, USA- Prof. Dr. Dirk Lowke, Professorship of Binder Jetting Technology, Department of Materials Engineering, TUM School of Engineering and Design, Technical University of Munich, Germany- Prof. Dr. Inka Mai, Robot-Assisted Manufacturing of the Built Environment, Insitute of Civil Engineering, Faculty VI - Planning Building Environment, Technical University of Berlin, Germany- Prof. Dr. Pierluigi D'Acunto, Professorship of Structural Design, Department of Architecture, TUM School of Engineering and Design, Technical University of Munich, Germany- Prof. Dr. Harald Kloft, Institute of Structural Design, Department of Architecture, Faculty of Architecture, Civil Engineering and Environmental Sciences, Technische Universität Braunschweig, Germany- Prof. Dr. Norman Hack, Institute of Structural Design, Department of Architecture, Faculty of Architecture, Civil Engineering and Environmental Sciences, Technische Universität Braunschweig, Germany

Contact: 0009-0008-4606-5201

------------------------------------------------------------3. Description------------------------------------------------------------This dataset accompanies the paper *Automated Robotic Assembly Planning of Space Trusses for Injection 3D Concrete Printing*and contains all relevant data for reproducing and understanding the workflow from computational form finding to physical fabrication.

Included files:1. Grasshopper Definition (.ghx) — The parametric model used for robotic path planning.2. Rhino Files (.3dm) — The parametric model used for robotic path planning.3. STL Files (.stl) — Generated and laser-scanned geometries for comparison.4. MP4 Files (.mp4) — Videos documenting the additive manufacturing / robotic printing process.

------------------------------------------------------------4. File Overview------------------------------------------------------------| File Type | Folder / File Name Example | Description ||------------|----------------------------|--------------|| .ghx | /scripts/form_finding_definition.ghx | Grasshopper file performing robotic path planning. || .3dm | /scripts/form_finding_definition.3dm | Rhino file performing robotic path planning. || .stl | /geometry/generated_form.stl /geometry/laser_scan.stl | Mesh geometries: computational vs. scanned. || .mp4 | /videos/printing_sequence_01.mp4 | Video documentation of the printing process. |

------------------------------------------------------------5. Software Requirements------------------------------------------------------------- Rhinoceros 7 or later- Grasshopper (pre-installed with Rhino)- Optional plug-ins: Robots, Human- Any 3D viewer for .obj files (e.g., MeshLab, Rhino, Blender)- Standard media player for .mp4 files

------------------------------------------------------------6. Data Usage and Reproduction------------------------------------------------------------To reproduce the workflow:1. Open the .ghx file in Rhino + Grasshopper.2. Adjust parameters as needed (e.g., boundary conditions, loads, constraints).3. Export resulting geometries to .obj format.4. Compare exported .obj to the laser-scanned version using Rhino or CloudCompare.5. Review the .mp4 files for fabrication details and material behavior.

------------------------------------------------------------7. Structure of the Repository------------------------------------------------------------/Automated Robotic Assembly Planning of Space Trusses for Injection 3D Concrete Printing - Data/│├── scripts/│   └── Path_bridge_piece_1&2.ghx│   └── Path_bridge_piece_2&3.ghx│   └── Path_bridge_piece_1&2.3dm│   └── Path_bridge_piece_2&3.3dm│├── geometry/│   ├── Digital_Model_mesh_designed_01.stl│   └── Digital_Model_mesh_designed_02.stl│   └── Digital_Model_mesh_designed_03.stl│   └── Laser_Scan_mesh_01.stl│   └── Laser_Scan_mesh_02.stl│   └── Laser_Scan_mesh_03.stl│├── videos/│   └── Video_I3DCP.mp4│└── README.txt

------------------------------------------------------------8. File Naming Conventions------------------------------------------------------------- Path_*.ghx : Path-planning scripts- Path_*.3dm : Path-planning geometries- Digital_Model_*.stl : Computationally derived geometries- Laser_Scan_*.stl : Laser_scanned geometries- Video_*.mp4 : Recorded fabrication sequences

------------------------------------------------------------9. License------------------------------------------------------------This dataset is released under the Creative Commons Attribution 4.0 International (CC BY 4.0) license.You are free to share and adapt the material with proper attribution.

------------------------------------------------------------10. Citation------------------------------------------------------------Please cite this dataset as:Xiao Y., Vandenberg A., Lowke D., Mai I., D'Acunto P., Kloft H., Hack N., Automated Robotic Assembly Planning of Space Trusses for Injection 3D Concrete Printing - Data, Zenodo, 2025, DOI: https://doi.org/10.5281/zenodo.17943868

------------------------------------------------------------11. Funding and Acknowledgements------------------------------------------------------------The research was partially supported by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation)under project number 414265976 – TRR 277: Additive Manufacturing in Construction.

------------------------------------------------------------12. Related Publications------------------------------------------------------------Xiao Y., Vandenberg A., Lowke D., Mai I., D'Acunto P., Kloft H., Hack N., Automated Robotic Assembly Planning of Space Trusses for Injection 3D Concrete Printing, Automation in Construction, vol. 179, 2025, DOI: https://doi.org/10.1016/j.autcon.2025.106440

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