Robotic Assembly of Timber Structures in a Human-Robot Collaboration Setup

Abstract

The construction sector is investigating wood as a highly sustainable material for fabrication of architectural elements. Several researchers in the field of construction are currently designing novel timber structures as well as novel solutions for fabricating such structures, i.e. robot technologies which allow for automation of a domain dominated by skilled craftsman. In this paper, we present a framework for closing the loop between the design and robotic assembly of timber structures. On one hand, we illustrate an extended automation process that incorporates learning by demonstration to learn and execute a complex assembly of an interlocking wooden joint. On the other hand, we describe a design case study that builds upon the specificity of this process, to achieve new designs of construction elements, which were previously only possible to be assembled by skilled craftsmen. The paper provides an overview of a process with different levels of focus, from the integration of a digital twin to timber joint design and the robotic assembly execution, to the development of a flexible robotic setup and novel assembly procedures for dealing with the complexity of the designed timber joints. We discuss synergistic results on both robotic and construction design innovation, with an outlook on future developments.

Wood Products Manufacturing Optimization: A Survey

“…It is therefore essential for every company to technically improve the operation of production processes -from log scanning to sawing, trimming and drying phases -in order to effectively use the company's equipment and to increase its productivity and efficiency, as well as its final product quality and diversity [11]. In this regard, automating decisions in manufacturing environments by implementing automated machines, manufacturing lines, and robot-supported systems with smart controls can greatly assist sawmills to handle technical challenges in their production processes [90]. We identified two main categories where smart systematic decisions in using semi-automated or fully-automated production systems can benefit sawmills, namely process quality improvement and product quality improvement.…”

“…certain points. From a financial perspective, semi-automated systems can be a better fit for medium and small sawmills to meet their production goals with low-risk investments [90], [96].…”

“…Product quality [2], [10], [11], [16], [17], [18], [20], [43], [85], [88], [90], [94], [96], [106], [107], [108] [56], [84], [85], [106] [32], [50], [82], [106], [118], [119] [9], [40], [41], [83] Technical feasibility [7], [11], [13], [17], [25], [31], [32], [82], [83], [95], [96], [101], [109], [110] [7], [16], [32], [56], [64], [65], [109], [111], [112] Customer satisfaction Demands [7],…”

Shaping the role of the digital twins for human‐robot dyad: Connotations, scenarios, and future perspectives

“…Applications of Partial DT usually entail low LORA. However, in a few cases, limited data exchange is associated with a substantially high autonomy of the robotic system [62,63].…”

Design considerations for robotically assembled through-tenon timber joints

“…Although the results were promising, tight-fitting joints with a clearance inferior to 1 mm could not be inserted due to the limitations of the setup. An alternative method for training a robot was also proposed by Kramberger et al (2022). Relying on the principles of Learning from Demonstration (LfD), the robot was taught how to insert half-lap joints by first analyzing the motion and force pattern of hand-guided examples.…”