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.
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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.
| Type: | Proceedings paper |
|---|---|
| Title: | Robotic Assembly of Timber Plate Structures |
| Event: | eCAADe 2024 |
| Location: | University of Cyprus, Cyprus |
| Dates: | 11 Sep 2024 - 13 Sep 2024 |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | https://papers.cumincad.org/cgi-bin/works/Show?eca... |
| Language: | English |
| Additional information: | This version is the version of record. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Autonomous Robotic Assembly, Multi-Robotic Path Planning, Feedback Based Assembly, Design Strategies & Optimization |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of the Built Environment UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of the Built Environment > The Bartlett School of Architecture |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10196736 |
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