CumInCAD is a Cumulative Index about publications in Computer Aided Architectural Design
supported by the sibling associations ACADIA, CAADRIA, eCAADe, SIGraDi, ASCAAD and CAAD futures

PDF papers
id sigradi2015_13.316
authors Ariza, Inés; Gazit, Merav
year 2015
title On-site Robotic Assembly of Double-curved Self-supporting Structures
source SIGRADI 2015 [Proceedings of the 19th Conference of the Iberoamerican Society of Digital Graphics - vol. 2 - ISBN: 978-85-8039-133-6] Florianópolis, SC, Brasil 23-27 November 2015, pp. 746-753.
summary Robotic assembly of architectural structures has been an area of research for a few decades. Yet, current methods impose a large number of constraints on the geometry of those structures. In this paper we introduce a method for robotic assembly that enables the construction of double curved self-supporting structures. Latest research challenges have focused on the assembly of sophisticated brick structures and on sensor feedback systems for handling accuracy. We propose an alternative strategy to tackle tolerance handling in complex structures that rely on geometry. The intelligence of the system lies in two main aspects: a subdivision technique that incorporates the robot’s constraints as well as the structural equilibrium of the structure during each step of assembly, in order to omit the use of scaffolding; and a match between geometric information and the robot’s movements in a robot programming environment. As a proof of concept, we fabricated a portion of a full-scale double-curved structure. The structure was assembled without scaffolding by a portable KUKA KR10 on a randomly picked site. This project aims to demonstrate an easy and simple method for robotic assembly that enables the realization of digitally generated complex geometries as concrete complex structures.
keywords Robotic Assembly, Self-supporting Structure, On-site Assembly, Double Curvature, Construction Tolerances
series SIGRADI
full text file.pdf (4,982,225 bytes)
references Content-type: text/plain
Details Citation Select
100%; open Carlsson, B. (1989) Find in CUMINCAD The evolution of manufacturing technology and its impact on industrial structure: an international study , Small Business Economics, 1(1), 21-37

100%; open Deuss M., Panozzo D., Whiting E., Liu Y., Block P., Hornung-Sorkine O. and Pauly M. (2014) Find in CUMINCAD Assembling Self-Supporting Structures , ACM Transactions on Graphics - SIGGRAPH Asia 2014,33(6): 214:1-214:10

100%; open Gambao, E., Balaguer, C., & Gebhart, F (2000) Find in CUMINCAD Robot assembly system for computer-integrated construction , Automation In Construction, 9479-487

100%; open Gramazio, Fabio, Matthias Kohler, and Jan Willmann (2014) Find in CUMINCAD The Robotic Touch: How Robots Change Architecture , Zurich: Park Books

100%; open Helm, V. (2014) Find in CUMINCAD In-Situ Fabrication: Mobile Robotic Units on Construction Sites , Archit Design, 84: 100–107

100%; open J. Andres, T. Bock, F. Gebhart, and W. Steck (1994) Find in CUMINCAD First results of the development of the masonry robot system ROCCO , Proc. 11th ISARC International Symposium on Automation and Robotics Construction, Brighton, 1994, pp. 87–93

100%; open Kahane, B., & Rosenfeld, Y. (2004) Find in CUMINCAD Real-time ‘Sense-and-Act’ operation for construction robots , Automation In Construction, 13(6), 751-764

100%; open Nervi, P. L. (1957) Find in CUMINCAD The works of Pier Luigi Nervi , New York, F.A. Praeger

100%; open Pritschow, G., Dalacker, M., Kurz, J., & Gaenssle, M. (1996) Find in CUMINCAD Technological aspects in the development of a mobile bricklaying robot , Automation In Construction, 5(1), 3-13

last changed 2016/03/10 08:47
pick and add to favorite papersHOMELOGIN (you are user _anon_402931 from group guest) CUMINCAD Papers Powered by SciX Open Publishing Services 1.002