Computational Design of Robotically Assembled Spatial Structures
A sequence based method for the generation and evaluation of structures fabricated with cooperating robots
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Author / Producer
Date
2018
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
Cooperative robotic fabrication enables the development of new types of spatial structures, provided that assembly sequence and robot path-planning is considered in the design process early on. This paper presents a design strategy for a lightweight steel structure assembled by two robots. The developed structure describes a novel typology of spatial structures and consists of steel tubes that form spatial configurations through their three-dimensional aggregation. The bars are joined notch-free through welding and without additional connecting elements. Besides fabrication-driven constraints, the design process is informed by functional, geometric and structural parameters. The paper presents the development of a novel connection system and the resulting dependencies for the geometric and structural system, as well as a four-step computational design method that allows to explore a large area of the design space of such structures. Optimisation methods are employed to solve the complex dependencies of the presented structures and find a valid design.
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Publication status
published
External links
Book title
AAG 2018: Advances in Architectural Geometry 2018
Journal / series
Volume
Pages / Article No.
112 - 139
Publisher
Klein Publishing
Event
Advances in Architectural Geometry (AAG 2018)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
spatial structures,; sequence based design; cooperative robotic assembly; multi-robotic fabrication; fabrication aware design; digital fabrication; assembly sequence; computational design
Organisational unit
09620 - Coros, Stelian / Coros, Stelian
03709 - Kohler, Matthias / Kohler, Matthias
03708 - Gramazio, Fabio / Gramazio, Fabio
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication