Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps
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. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000481928Publication status
publishedBook title
PROJECTIONS – Proceedings of the 26th International Conference of the Association for Computer-Aided Architectural DesignJournal / series
CAADRIAVolume
Pages / Article No.
Publisher
Association for Computer Aided Architectural Design Research in AsiaEvent
Subject
Robotic Assembly; Spatial Timber Structure; Wood Joints; Distributed RobotsOrganisational unit
03708 - Gramazio, Fabio / Gramazio, Fabio
03709 - Kohler, Matthias / Kohler, Matthias
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
Funding
141853 - Digital Fabrication - Advanced Building Processes in Architecture (SNF)
Related publications and datasets
Is cited by: https://doi.org/10.3929/ethz-b-000518440
Notes
Conference lecture held on March 30, 2021. Due to the Coronavirus (COVID-19) the conference was conducted virtually.More
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