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Automated fabrication of reinforcement cages using a robotized production cell



Mahdi Momeni Kelageri, Johan Relefors , Abubakar Khatry , Lars Petterson , Alessandro Papadopoulos, Thomas Nolte

Publication Type:

Journal article


Automation in Construction




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-a-kind reinforcement cages.


@article{Momeni Kelageri6350,
author = {Mahdi Momeni Kelageri and Johan Relefors and Abubakar Khatry and Lars Petterson and Alessandro Papadopoulos and Thomas Nolte},
title = {Automated fabrication of reinforcement cages using a robotized production cell},
volume = {133},
number = {103990},
pages = {1--12},
month = {January},
year = {2022},
journal = {Automation in Construction},
url = {}