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