Enhanced co-design and evaluation of a collective robotic construction system for the assembly of large-scale in-plane timber structures
Open access
Datum
2024-06Typ
- Journal Article
ETH Bibliographie
yes
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Abstract
Collective robotic construction (CRC) is an emerging approach to construction automation based on the collaboration among teams of small mobile robots. This paper enhances an existing modular CRC system, showcasing its capability to assemble full-scale in-plane timber structures. Utilizing strategies of co-design, the robotic actuators were updated to accommodate material tolerance in the passive building material, timber struts, which they use for locomotion and assemble into structures. A custom effector was also developed to establish architecturally relevant, structural connections between struts. The enhancements address two major challenges in CRC system development: material tolerance and connections. To showcase these research findings and compare with other construction automation systems, a reinforced slab structure was assembled. With a building envelop of 0.485 m³, this is one of the largest structures assembled by a CRC system. As such, the work highlights the potential applicability of CRC in real-world architectural projects. Mehr anzeigen
Persistenter Link
https://doi.org/10.3929/ethz-b-000666939Publikationsstatus
publishedExterne Links
Zeitschrift / Serie
Automation in ConstructionBand
Seiten / Artikelnummer
Verlag
ElsevierThema
Collective robotic construction; Mobile robotics; Architecture; Construction automation; MechatronicsOrganisationseinheit
02631 - Institut für Biomedizinische Technik / Institute for Biomedical Engineering
ETH Bibliographie
yes
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