Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps

Leung, Pok Yin Victor; Apolinarska, Aleksandra Anna; Tanadini, Davide; Gramazio, Fabio; Köhler, Matthias

doi:10.52842/conf.caadria.2021.1.583

Cited by 14 publications

(7 citation statements)

References 7 publications

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“…The assembly of the DFAB project explore dual-robot fabrication of timber frame structures (Graser et al, 2021). The assembly of tenon-and-mortise joints-based timber structures through the flexible use of robotic grippers and tool changers have also been recently explored (Leung et al, 2021), as well as the off-site robotic glue-pressing of timber assemblies (Wagner, Alvarez, Kyjanek, et al, 2020). Currently, the research of robotic timber assembly is mainly carried out in laboratories and factories.…”

Section: Robotic Timber Assemblymentioning

confidence: 99%

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Proceedings of the 27th Conference on Computer Aided Architectural Design Research in Asia (CAADRIA) [Volume 2]

2022

CAADRIA Proceedings

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This paper discusses the design and development of scale masonry structures using robot arms, computer vision hardware and bespoke computational workflows. In parallel to the development of full-scale masonry solutions using a Cable Driven Parallel Robot (CDPR), a faster method for testing large numbers of brick elements is needed to verify buildability, mitigate collisions, and think differently about recycled materials during real-world construction activities. Additionally, by incorporating scanning and analysis technology, materials can be digitized, and their attributes translated into variables for placement within an intended structure.

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Section: Robotic Timber Assemblymentioning

confidence: 99%

“…However, their method only demonstrated the assembly of a few small sized elements with a simple lap joint geometry. Leung et al (2021) used distributed high force clamps to assemble structures also with simple tight-fitting lap joints.…”

Section: State Of the Artmentioning

confidence: 99%

Proceedings of the 27th Conference on Computer Aided Architectural Design Research in Asia (CAADRIA) [Volume 2]

2022

CAADRIA Proceedings

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Section: Robotic Timber Assemblymentioning

confidence: 99%

In-Situ Robotic Fabrication of Spatial Glulam Structures

Chai¹,

Guo²,

Wagner³

et al. 2022

CAADRIA Proceedings

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While current approaches in timber construction stress the advantages of off-site prefabrication, glued laminated timber(glulam) structures is limited to the constraints of standardized, prefabricated mostly linear elements, which also lends itself only to building typologies that offer an increased level of standardization and regularity. The design freedom of timber structures is incomparable to that of reinforced concrete structures, which mostly gains from the insitu fabrication process. An in-situ robotic timber fabrication platform allows the on-site construction of glulam structures with highly differentiated networks of beams composed of robotically assembled discrete linear elements. Based on the possibilities of such mobile robotic fabrication process, this paper explores novel architectural typologies of spatial glulam structures. The research is conducted from several aspects including joint tectonics, design method, and robotic fabrication process. A large-scale pavilion is designed and fabricated to verify the feasibility of the proposed system. This research could provide a novel mode of in-situ robotic timber fabrication and corresponding glulam structure system for timber construction.

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“…Another strategy consists in increasing the force of the robot end effector. Remote-controlled robotic clamps were developed by Leung et al for the insertion of half-lap joints (Leung et al 2021). The clamps can detach from the robot and synchronously apply a 3 kN force.…”

Section: State Of the Artmentioning

confidence: 99%

Design considerations for robotically assembled through-tenon timber joints

et al. 2022

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This research investigates the robotic assembly of timber structures connected by wood–wood connections. As the digitization of the timber construction sector progresses, digital tools, such as industrial robotic arms and Computer Numerical Control machines, are becoming increasingly accessible. The new-found ease with which wood can be processed stimulates a renewed interest in traditional joinery, where pieces are simply interlocked instead of being connected by additional metallic parts. Previous research established a computational workflow for the robotic assembly of timber plate structures connected by wood–wood connections. This paper focuses on determining the physical conditions that allow inserting through-tenon joints with a robot. The main challenge lies in minimizing the clearance between the tenon and the mortise in order to keep the connections as tight as possible. An experimental protocol has, therefore, been developed to quantitatively assess the performance of the insertion according to different geometric parameters. Robotic insertion tests have been carried out on over 50 samples of 39 mm Laminated Veneer Lumber. Results showed the interest of tapering the joint with a 5 degrees angle, in addition to introducing an offset of 0.05 mm, to minimize friction forces during the insertion. This configuration was confirmed by successfully assembling a 2,50 m long box girder with the same parameters.

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Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps

Cited by 14 publications

References 7 publications

Proceedings of the 27th Conference on Computer Aided Architectural Design Research in Asia (CAADRIA) [Volume 2]

Proceedings of the 27th Conference on Computer Aided Architectural Design Research in Asia (CAADRIA) [Volume 2]

In-Situ Robotic Fabrication of Spatial Glulam Structures

Design considerations for robotically assembled through-tenon timber joints

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