Deconstruction system for the reuse of concrete building parts in circular automated construction

In response to the growing demand for sustainable construction practices, this research introduces an innovative (semi-)automated robotic deconstruction system designed for minimally invasive, controlled deconstruction of concrete building parts, aligning with Circular Economy principles to enhance material reuse. The system automates the sawing process, significantly reducing labor and time compared to traditional methods. Field demonstrations show a reduction from $\sim$26 min to $\sim$4 min per set-up. Key innovations include a hydraulically positioned end-effector capable of precise cuts, allowing the system to align precisely, and the integration of a PID control mechanism that stabilizes the robotic arm, preventing positional drift while enabling horizontal sawing and improving safety. In addition, laser alignment technology enables real-time adjustments during cutting, enhancing accuracy. The deconstruction system efficiently manages workflows and reduces physical strain on workers by handling heavy loads. This research demonstrates the potential of robotic systems to work in complex environments while minimizing waste in construction and improving resource efficiency.