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_id	sigradi2015_13.316
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
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last changed	2016/03/10 09:47

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