Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps
- Conference Paper
Rights / licenseIn Copyright - Non-Commercial Use Permitted
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
Book titleProjections, Proceedings of the 26th International Conference on Computer-Aided Architectural Design Research in Asia (CAADRIA 2021)
Journal / seriesCAADRIA
Pages / Article No.
PublisherThe Chinese University of Hong Kong, School of Architecture
SubjectRobotic Assembly; Spatial Timber Structure; Wood Joints; Distributed Robots
Organisational unit03708 - Gramazio, Fabio / Gramazio, Fabio
03709 - Kohler, Matthias / Kohler, Matthias
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
141853 - Digital Fabrication - Advanced Building Processes in Architecture (SNF)
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NotesConference lecture held on March 30, 2021. Due to the Coronavirus (COVID-19) the conference was conducted virtually.
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