Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps
| Autor: | Pok Yin Victor Leung, Aleksandra Anna Apolinarska, Davide Tanadini, Fabio Gramazio, Matthias Kohler |
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| Přispěvatelé: | Globa, Anastasia, van Ameijde, Jeroen, Fingrut, Adam, Kim, Nayeon, Sky Lo, Tian T. |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: | |
| Zdroj: | CAADRIA, 1 PROJECTIONS – Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design |
| Popis: | This paper presents a novel robotic assembly method for timber structures with integral timber joints, specifically, crossed-half-lap joints. The proposed method uses a set of custom-built, remote-controlled, high-force robotic clamps to operate in collaboration with an industrial robotic arm to overcome challenges of robotic timber joint assembly, such as providing large assembly forces and correcting misalignments. This method enables automatic assembly of non-repetitive and spatially connected timber structures. We developed custom software for modelling, visualization and feasibility-checking for structures compatible with the proposed assembly method. As a proof of concept, we designed and robotically assembled a spatial frame structure (4.8 x 3.0m footprint, 3.4m tall) comprising 40 pieces of 100x100mm profile timber elements. CAADRIA, 1 PROJECTIONS – Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design ISBN:978-988-78917-5-8 |
| Databáze: | OpenAIRE |
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