eprintid: 10196736
rev_number: 17
eprint_status: archive
userid: 699
dir: disk0/10/19/67/36
datestamp: 2024-09-10 10:40:29
lastmod: 2024-09-10 10:40:29
status_changed: 2024-09-10 10:40:29
type: proceedings_section
metadata_visibility: show
sword_depositor: 699
creators_name: Gracia, Juan
creators_name: Anil, Balu
creators_name: Bhaskar, Cephas
creators_name: Perutxet Olesti, Guillem
creators_name: Meng, Jingyuan
creators_name: Devadass, Pradeep
title: Robotic Assembly of Timber Plate Structures
ispublished: pub
divisions: UCL
divisions: B04
divisions: C04
divisions: F36
keywords: Autonomous Robotic Assembly, Multi-Robotic Path Planning, Feedback Based Assembly, Design Strategies & Optimization
note: This version is the version of record. For information on re-use, please refer to the publisher’s terms and conditions.
abstract: This research paper introduces design and assembly strategies for autonomous construction of timber plate structures. Current state-of-the-art research shows robotic assembly of Integrally Attached Timber Plate Structures (IATPS) is feasible, yet achieving precise, fully automated assembly encounters challenges such as setup inaccuracies, spring back forces, material warping, and a lack of strategies for design optimization tailored to autonomous assembly. The research comprises three main areas: designing timber plate structures with an emphasis on optimizing joinery design for autonomous assembly, establishing a multi-robotic path planning that considers assembly sequence and direction of assembly, and implementing feedback-based assembly using real-time positional tracking system for accuracy and efficiency. The research investigates the constraints of design by constructing two prototypes: a folded timber plate structure and a trivalent polyhedral timber plate structure. The folded timber plate prototype serves to explore and analyze three different types of joinery. Through this experimentation, effective joinery assembly strategies are identified, which are subsequently applied in the final prototype of the trivalent polyhedral timber plate structure. This research paves the way for future exploration in the field, indicating vast potential for further innovations in design strategies for automated assembly.
date: 2024-08-28
date_type: published
publisher: eCAADe
official_url: https://papers.cumincad.org/cgi-bin/works/Show?ecaade2024_193
oa_status: green
full_text_type: pub
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 2310715
lyricists_name: Devadass, Pradeep
lyricists_id: PDEVA48
actors_name: Devadass, Pradeep
actors_id: PDEVA48
actors_role: owner
full_text_status: public
pres_type: paper
series: eCAADe
publication: eCAADe 2024 Data Driven Intelligence
volume: 1
place_of_pub: Nicosia, Cyprus
pagerange: 147-156
event_title: eCAADe 2024
event_location: University of Cyprus, Cyprus
event_dates: 11 Sep 2024 - 13 Sep 2024
issn: 2684-1843
book_title: Data-Driven Intelligence: Proceedings of the 42nd Conference on Education and Research in Computer Aided Architectural Design in Europe
editors_name: Kontovourkis, O
editors_name: Phocas, MC
editors_name: Wurzer, G
citation:        Gracia, Juan;    Anil, Balu;    Bhaskar, Cephas;    Perutxet Olesti, Guillem;    Meng, Jingyuan;    Devadass, Pradeep;      (2024)    Robotic Assembly of Timber Plate Structures.                     In: Kontovourkis, O and Phocas, MC and Wurzer, G, (eds.) Data-Driven Intelligence: Proceedings of the 42nd Conference on Education and Research in Computer Aided Architectural Design in Europe.  (pp. pp. 147-156).  eCAADe: Nicosia, Cyprus.       Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/10196736/1/ecaade2024_193.pdf