Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps

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

doi:10.3929/ethz-b-000481928

Cited by 4 publications

(1 citation statement)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Their high quality can be achieved by improving milling methods. Automatic robotic assembly of wooden members is also promising (Leung et al, 2021).…”

Section: Resultsmentioning

confidence: 99%

Method of Calculation for Walls of Vertical Squared Timber

Tretiakova

2022

AEJ

View full text Add to dashboard Cite

Introduction: In recent years, houses out of vertical squared timber have become widespread. Vertical bars make it possible to use the effective wood behavior in compression and ensure maximum strength of the material along the fibers. Vertical bars are subject to compression with bending, which can result in loss of strength and buckling in building structures. In the available research papers and technical literature, the issue of the stress-strain state of such walls has not been analyzed. The purpose of this study was to formulate a calculation method for walls out of vertical squared timber, based on the available traditional approaches to wooden structures. We propose a calculation method for walls out of vertical squared timber as a set of elements resisting compression with bending, including a check for limiting slenderness. Results: Permissible heights of walls for buildings with bays of 10 and 12 m were obtained. The results can be used in the design of low-rise residential and public buildings, mansard superstructures of multi-story buildings.

show abstract

“…Their high quality can be achieved by improving milling methods. Automatic robotic assembly of wooden members is also promising (Leung et al, 2021).…”

Section: Resultsmentioning

confidence: 99%

Method of Calculation for Walls of Vertical Squared Timber

Tretiakova

2022

AEJ

View full text Add to dashboard Cite

show abstract

Robotic Non-sequential Interlocking Assemblies

Rossi,

Mesnil,

Glath

et al. 2024

Scalable Disruptors

View full text Add to dashboard Cite

Tie a knot: human–robot cooperative workflow for assembling wooden structures using rope joints

et al. 2022

View full text Add to dashboard Cite

In recent years, research in computational design and robotic fabrication in architecture, engineering, and construction (AEC) has made remarkable advances in automating construction processes, both in prefabrication and in-situ fabrication. However, little research has been done on how to leverage human-in-the-loop processes for large-scale robotic fabrication scenarios. In such processes, humans and robots support each other in fabrication operations that neither of them could handle alone, leading to new opportunities for the AEC domain. In this paper, we present Tie a knot, an experimental study that introduces a set of digital tools and workflows that enables a novel human–robot cooperative workflow for assembling a complex wooden structure with rope joints. The system is designed for a dually augmented human–robot team involving two mobile robots and two humans, facilitated by a shared digital-physical workspace. In this shared workspace, digital spatial data informs humans about the design space and fabrication-related boundary conditions for decision-making during assembly. As such, humans can manually place elements at locations of their choice, following a set of design rules that affect the gradual evolution of the structure. In direct response to such manually placed elements, the cooperating robots can continue the assembly cycle by precisely placing elements and stabilizing the overall structure. During robotic stabilization, the humans make rope connections, which require high dexterity. The concept and workflow were physically implemented and validated through the cooperative assembly of a complex timber structure over five days. As part of this experimental investigation, we demonstrated and evaluated the performance of two tracking methods that allowed the digitization of the manually placed elements. In closing, the paper discusses the technological challenges and how a hybrid human–robot team could open new avenues for digital fabrication in architecture, accelerating the adoption of robotic technology in AEC.

show abstract

Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps

Cited by 4 publications

References 0 publications

Method of Calculation for Walls of Vertical Squared Timber

Method of Calculation for Walls of Vertical Squared Timber

Robotic Non-sequential Interlocking Assemblies

Tie a knot: human–robot cooperative workflow for assembling wooden structures using rope joints

Contact Info

Product

Resources

About