Cooperative Fabrication of Spatial Metal Structures

Parascho, Stefana; Gandia, Augusto; Mirjan, Ammar; Gramazio, Fabio; Köhler, Matthias

doi:10.3929/ethz-b-000219566

Cited by 6 publications

(3 citation statements)

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“…An example of this is the assembly of metal rods into complex (i.e. non-uniform) space frame structures [23,85] where complex joints between rods had to be carefully sequenced using two robots. Or in the fabrication of custom non-planar timber modules where cooperating robots were used to minimize the need for scaffolding [86].…”

Section: Cooperative Robotics and Discrete Element Structuresmentioning

confidence: 99%

“…Their application is improved by virtue of being able to perform a wide range of functions when paired with customized end-effectors designed for versatility [20]. During fabrication, in a cooperative assembly context (i.e., multiple robots working together), robots with a gripping functionality can take turns performing either the function of picking up and aggregating structural components, or holding and providing temporary support over indefinite periods of time to a partially completed structure [21][22][23]. Therefore, when properly sequenced, a cooperative fabrication method has the potential to achieve complex structural goalssuch as building a discrete element structure without temporary scaffolding while maintaining appropriate structural behavior.…”

Section: Introductionmentioning

confidence: 99%

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Three Cooperative Robotic Fabrication Methods for the Scaffold-Free Construction of a Masonry Arch

Bruun¹,

Pastrana²,

Paris³

et al. 2021

Preprint

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Geometrically complex masonry structures (e.g., arches, domes, vaults) are traditionally built with expensive scaffolding or falsework to provide stability during construction. The process of building such structures can potentially be improved through the use of multiple robots working together in a cooperative assembly framework. Here a robot is envisioned as both a placement and external support agent during fabrication -the unfinished structure is supported in such a way that scaffolding is not required. The goal of this paper is to present and validate the efficacy of three cooperative fabrication approaches using two or three robots, for the scaffold-free construction of a stable masonry arch from which a medium-span vault is built. A simplified numerical method to represent a masonry structure is first presented and validated to analyse systems composed of discrete volumetric elements. This method is then used to evaluate the effect of the three cooperative robotic fabrication strategies on the stability performance of the central arch. The sequential method and cantilever method, which utilize two robotic arms, are shown to be viable methods, but have challenges related to scalability and robustness. By adding a third robotic agent, it becomes possible to determine a structurally optimal fabrication sequence through a multi-objective optimization process. The optimized three robot method is shown to significantly improve the structural behavior over all fabrication steps. The modeling approaches presented in this paper are broadly formulated and widely applicable for the analysis of cooperative robotic fabrication sequences for the construction of discrete element structures across scales and materials.

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Section: Cooperative Robotics and Discrete Element Structuresmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Three Cooperative Robotic Fabrication Methods for the Scaffold-Free Construction of a Masonry Arch

Bruun¹,

Pastrana²,

Paris³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…In the architecture and construction fields specifically, robotics is most commonly applied to the prefabrication of building elements. However, the disadvantage is that prefabrication cannot occur for structural and material expressions that can only be assembled in situ (e.g., masonry vaults [Davis et al 2012], cast-in-place concrete structures [Echenagucia et al 2018;Veenendaal and Block 2014], and sequentially designed structures [Bruun et al 2020;Parascho et al 2017]). We believe that more emphasis on developing generalized and transferable on-site methods is necessary to achieve the goal of widening the applicability of robotic fabrication in the construction industry.…”

Section: Introductionmentioning

confidence: 99%

From Concept to Construction

Xi Han,

P.G. Bruun,

Marsh

et al. 2020

ACADIA Proceedings

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Cooperative Robotic Fabrication for a Circular Economy

Bruun,

Parascho,

Adriaenssens

2024

Circular Economy and Sustainability

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In a cooperative robotic fabrication (CRF) framework, multiple industrial robots are specifically sequenced to work together, thus allowing them to execute coordinated processes with greater geometric and structural variation. In the context of the construction industry, agents in a cooperative setup can perform complementary functions such as placing or removing building components while simultaneously providing temporary support to a structure. This approach can reduce, or completely remove, the need for temporary external supports and scaffolding that would typically be required for stability during the construction of geometrically complex spanning spatial structures. For a circular economy, this means overall reductions to primary resource inputs and improvements to the disassembly, reuse, and reassembly potential of a structure at the end of its life. This chapter gives a summary of three projects that successfully demonstrate the use of cooperative robotic fabrication to promote several principles of a circular economy through different scaffold-free construction applications. The topics covered in this chapter will be of interest to researchers and professionals interested in the emergent intersection of digital fabrication, robotics, and sustainability applied to the building industry.

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Cooperative Fabrication of Spatial Metal Structures

Cited by 6 publications

References 0 publications

Three Cooperative Robotic Fabrication Methods for the Scaffold-Free Construction of a Masonry Arch

Three Cooperative Robotic Fabrication Methods for the Scaffold-Free Construction of a Masonry Arch

From Concept to Construction

Cooperative Robotic Fabrication for a Circular Economy

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