Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps
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Author / Producer
Date
2021
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
This paper presents a novel robotic assembly method for timber structures with integral timber joints, specifically, crossed-half-lap joints. The proposed method uses a set of custom-built, remote-controlled, high-force robotic clamps to operate in collaboration with an industrial robotic arm to overcome challenges of robotic timber joint assembly, such as providing large assembly forces and correcting misalignments. This method enables automatic assembly of non-repetitive and spatially connected timber structures. We developed custom software for modelling, visualization and feasibility-checking for structures compatible with the proposed assembly method. As a proof of concept, we designed and robotically assembled a spatial frame structure (4.8 x 3.0m footprint, 3.4m tall) comprising 40 pieces of 100x100mm profile timber elements.
Permanent link
Publication status
published
Book title
PROJECTIONS – Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural Design
Journal / series
Volume
1
Pages / Article No.
583 - 592
Publisher
Association for Computer Aided Architectural Design Research in Asia
Event
26th International Conference of the Association for Computer-Aided Architectural Design Research in Asia: Projections (CAADRIA 2021) (virtual)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Robotic Assembly; Spatial Timber Structure; Wood Joints; Distributed Robots
Organisational unit
03709 - Kohler, Matthias / Kohler, Matthias
03708 - Gramazio, Fabio / Gramazio, Fabio
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
Notes
Conference lecture held on March 30, 2021. Due to the Coronavirus (COVID-19) the conference was conducted virtually.
Funding
141853 - Digital Fabrication - Advanced Building Processes in Architecture (SNF)
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