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.
CantiBox is a robotically assembled pavilion composed of linear timber elements. The interweaving logic of the structure makes it possible to use exclusively interlocking timber-to-timber connections during the automatic assembly. The design of the connections is based on the static method of limit analysis, which allows adjusting the geometry of each joint according to the internal force distribution.
This paper illustrates the design and fabrication process of the temporary installation The Canopy, developed as part of the fib Symposium on Conceptual Design of Structures 2021. The geometry of the perforated hanging membrane that forms The Canopy is the result of seamless integration between the disciplines of architecture and structural design, which was one of the driving inputs for the entire process. Particularly, the use of geometry-based models and graphic statics allowed activating the interplay between these disciplines. This was the key to balancing the relationship between architectural spaces and structural requirements, and to informing the multifaceted design exploration of The Canopy from conceptual design to construction.
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