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Precision Partner has explored workflows for automated robotic scanning of unknown panel geometries, during a workshop at the University of Technology of Sydney. The workflow uses a custom end effector fitted with two sensors, a RealSense D435 depth camera, and an Artec Eva handheld scanner. The first scan is taken with the RealSense camera. The low-resolution scan is processed in Grasshopper to determine the bounds of the scanned geometry, and generate a robotic toolpath for the second scanning pass. This is executed by the Eva scanner, and the resulting high-resolution point cloud is read back into Rhino/Grasshopper environment, ready to be used for conformal 3d printing in this case. The entire workflow is triggered from Grasshopper, and takes under 30 seconds to execute. The usage of a robot with the handheld scanner guarantees speed while maintaining accuracy of the scan.

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