Cumincad : CUMINCAD Papers : Search Results

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

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Reformat results as: short short into frame detailed detailed into frame

_id	cf2017_457
id	cf2017_457
authors	Erdine, Elif; Kallegias, Alexandros; Lara Moreira, Angel Fernando; Devadass, Pradeep; Sungur, Alican
year	2017
title	Robot-Aided Fabrication of Interwoven Reinforced Concrete Structures
source	Gülen Çagdas, Mine Özkar, Leman F. Gül and Ethem Gürer (Eds.) Future Trajectories of Computation in Design [17th International Conference, CAAD Futures 2017, Proceedings / ISBN 978-975-561-482-3] Istanbul, Turkey, July 12-14, 2017, p. 457.
summary	This paper focuses on the realization of three-dimensionally interwoven concrete structures and their design process. The output is part of an ongoing research in developing an innovative strategy for the use of robotics in construction. The robotic fabrication techniques described in this paper are coupled with the computational methods dealing with geometry rationalization and material constraints among others. By revisiting the traditional bar bending techniques, this research aims to develop a novel approach by the reduction of mechanical parts for retaining control over the desired geometrical output. This is achieved by devising a robotic tool-path, developed in KUKA\|prc with Python scripting, where fundamental material properties, including tolerances and spring-back values, are integrated in the bending motion methods via a series of mathematical calculations in accord with physical tests. This research serves to demonstrate that robotic integration while efficient in manufacturing it also retains valid alignment with the architectural design sensibility.
keywords	Robotic fabrication, Robotic bar bending, Concrete composite, Geometry optimization, Polypropylene formwork
series	CAAD Futures
email
last changed	2017/12/01 14:38

_id	acadia17_374
id	acadia17_374
authors	Manninger, Sandra; del Campo, Matias
year	2017
title	Plato's Columns: Platonic Geometries vs. Vague Gestures in Robotic Construction
doi	https://doi.org/10.52842/conf.acadia.2017.374
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 374- 381
summary	This paper examines the inherent possibilities for architectural production in automated deposition modeling techniques, primarily explored through the use of industrial robots in combination with plastic deposition heads. These robots, in combination with various polymers, toolpaths and colorations, served as a design ecology for the exploration of emergent behaviors in robotic construction. The relationship between geometry (Euclidian, topological, fractal), mechanical properties of material (plasticity, elasticity, viscosity, resilience), optical properties (color, absorbance, transmittance, scattering), and the gestural qualities of robotic toolpaths constitute the palette adopted for the presented project. The project combines the rigor of a platonic body (Figure 2) with the emergent properties of vague gestures. The introduction of moments of uncertainty in the process produces glitches that are embraced as an opportunity to find novel aesthetic conditions. The profound entanglement with the post-digital realm is discussed as the discursive plane of thinking applied to the project.
keywords	design methods; information processing fabrication; construction/robotics; form finding; computational / artistic cultures
series	ACADIA
email
last changed	2022/06/07 07:59

_id	acadia17_522
id	acadia17_522
authors	Sarafian, Joseph; Culver, Ronald; Lewis, Trevor S.
year	2017
title	Robotic Formwork in the MARS Pavilion: Towards The Creation Of Programmable Matter
doi	https://doi.org/10.52842/conf.acadia.2017.522
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 522- 533
summary	The proliferation of parametric tools has allowed for the design of previously impossible geometry, but the construction industry has failed to keep pace. We demonstrate the use of industrial robots to disrupt the ancient process of casting concrete and create an adjustable formwork capable of generating various cast components based on digital input, crafting a new approach to “programmable matter.” The resulting research delineates a novel methodology to facilitate otherwise cost-prohibitive, even impossible design. The MARS Pavilion employs this methodology in a building-sized proof of concept where manipulating fabric with industrial robots achieves previously unattainable precision while casting numerous connective concrete components to form a demountable lattice structure. The pavilion is the result of parametric form finding, in which a catenary structure ensures that the loads are acting primarily in compression. Every concrete component is unique, yet can be assembled together with a 1/16-inch tolerance. Expanding Culver & Sarafian’s previous investigations, industrial robot arms are sent coordinates to position fabric sleeves into which concrete is poured, facilitating a rapid digital-to-physical casting process. With this fabrication method, parametric variation in design is cost-competitive relative to other iterative casting techniques. This digital breakthrough necessitated analogue material studies of rapid-setting, high-strength concrete and flexible, integral reinforcing systems. The uniquely shaped components are coupled with uniform connectors designed to attach three limbs of concrete, forming a highly stable, compressive hex-grid shell structure. A finite element analysis (FEA) was a critical step in the structural engineering process to simulate various load scenarios on the pavilion and drive the shape of the connective elements to their optimal form.
keywords	material and construction; fabrication; form finding
series	ACADIA
email
last changed	2022/06/07 07:57

_id	caadria2017_009
id	caadria2017_009
authors	Yang, Xuyou, Koh, Shawn Jyh Shen, Loh, Paul and Leggett, David
year	2017
title	Robotic Variable Fabric Formwork
doi	https://doi.org/10.52842/conf.caadria.2017.873
source	P. Janssen, P. Loh, A. Raonic, M. A. Schnabel (eds.), Protocols, Flows, and Glitches - Proceedings of the 22nd CAADRIA Conference, Xi'an Jiaotong-Liverpool University, Suzhou, China, 5-8 April 2017, pp. 873-882
summary	Casting is one of the most widely used construction techniques. Complex geometries produced via computational design processes are not easily achievable through traditional rigid formwork and are subject to increase material waste. More suitable casting techniques are required to efficiently represent digital design output. This paper presents a variable fabric formwork developed to work in conjunction with a 6-axis robotic arm for casting doubly curved panels based on hyperbolic paraboloid geometry. The variable formwork is designed to be extendable in length and width so it is able to produce a wide range of outcome within a single formwork. The interface established in the workflow allows the physical formwork and digital design to influence each other. This variable fabric formwork reduces construction waste and is a more sustainable method of casting complex geometries.
keywords	Digital fabrication; Robotic production; fabric casting
series	CAADRIA
email
last changed	2022/06/07 07:57

_id	ecaade2017_201
id	ecaade2017_201
authors	De Azambuja Varela, Pedro and Sousa, José Pedro
year	2017
title	Fabricating Stereotomy - Variable moulds for cast voussoirs
doi	https://doi.org/10.52842/conf.ecaade.2017.2.193.2
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 193-200
summary	Recent developments in digital design and fabrication tools have led architects and researchers to renew the interest in stereotomy. This interest converges with a growing ecological and economical conscience that matches classic stereotomy raw material needs: compression resistance materials. However, material resources or prefabrication time are still major counterparts for the adoption of this construction system. This paper focuses in exploring techniques that profit from the interdependency between built form and fabrication technique, foraging methodologies that allow for stereotomic block creation with simpler resources. The premise is to explore faster, cheaper, more accessible ways to build stereotomic structures. The technique developed in this research explores alternatives to the traditional cutting of stone by expanding techniques for variable moulds to form solid voussoirs.
keywords	stereotomy; voussoir; mould; variable production; robotic fabrication
series	eCAADe
email
last changed	2022/06/07 07:55

_id	acadia17_260
id	acadia17_260
authors	Goldman, Melissa; Myers, Carolina
year	2017
title	Freezing the Field: Robotic Extrusion Techniques Using Magnetic Fields
doi	https://doi.org/10.52842/conf.acadia.2017.260
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 260-265
summary	The introduction of robotics into the field of 3D printing allows designers and fabricators to truly print in three dimensions, focusing more on the volumetric properties of the extrusion rather than two-dimensional slicing and, furthermore, introducing forces that can defy gravity. This paper introduces a new method of robotic extrusion using magnetic fields to construct ferrostructures. Using a custom tool and ferromagnetic material, the research develops a construction process utilizing the off-plane toolpaths of a 6-axis industrial robotic arm to pull, attract, and repel material into a hardened structure. The ferromagnetic liquid forms spikes and connections around the invisible magnetic fields, and upon hardening, freezes the field into a new physical artifact. This extrusion process allows a fabrication that defies gravity. The robotic fabrication process allows microextrusions to build off of one another, scaling the result to approach an architectural scale and bringing a new freedom to the designer and the fabricator.
keywords	material and construction; fabrication; construction/robotics
series	ACADIA
email
last changed	2022/06/07 07:51

_id	acadia17_392
id	acadia17_392
authors	Mesa, Olga; Stavric, Milena; Mhatre, Saurabh; Grinham, Jonathan; Norman, Sarah; Sayegh, Allen; Bechthold, Martin
year	2017
title	Non-Linear Matters: Auxetic Surfaces
doi	https://doi.org/10.52842/conf.acadia.2017.392
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 392- 403
summary	Auxetic structures exhibiting non-linear buckling are a prevalent research topic in the material sciences due to the ability to tune their reversible actuation, porosity, and negative Poisson’s ratio. However, the research is limited to feature sizes at scales below 10 mm2, and to date, there are no available efficient design and prototyping methods for architectural designers. Our study develops design principles and workflow methods to transform standard materials into auxetic surfaces at an architectural scale. The auxetic behavior is accomplished through buckling and hinging by subtracting from a homogeneous material to create perforated patterns. The form of the perforations, including shape, scale, and spacing, determines the behavior of multiple compliant "hinges" generating novel patterns that include scaling and tweening transformations. An analytical method was introduced to generate hinge designs in four-fold symmetric structures that approximate non-linear buckling. The digital workflow integrates a parametric geometry model with non-linear finite element analysis (FEA) and physical prototypes to rapidly and accurately design and fabricate auxetic materials. A robotic 6-axis waterjet allowed for rapid production while maintaining needed tolerances. Fabrication methods allowed for spatially complex shaping, thus broadening the design scope of transformative auxetic material systems by including graphical and topographical biases. The work culminated in a large-scale fully actuated and digitally controlled installation. It was comprised of auxetic surfaces that displayed different degrees of porosity, contracting and expanding while actuated electromechanically. The results provide a promising application for the rapid design of non-linear auxetic materials at scales complimentary to architectural products.
keywords	material and construction; CAM; prototyping; smart materials; auxetic
series	ACADIA
email
last changed	2022/06/07 07:58

_id	acadia17_456
id	acadia17_456
authors	Page, Mitchell
year	2017
title	A Robotic Fabrication Methodology for Dovetail and Finger Jointing: An Accessible & Bespoke Digital Fabrication Process for Robotically-Milled Dovetail & Finger Joints
doi	https://doi.org/10.52842/conf.acadia.2017.456
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 456- 463
summary	Since the advent of industrialized processes in modern construction industries, the development of and relationship between computer-aided tools of design and computer-controlled tools of fabrication has steadily yielded new and innovative construction methodologies. Whilst industry has adopted many of these innovations for use by highly efficient machines and flexible processes, their operation is often highly dependent on industrial scales of production, and thus often inaccessible for small-scale, bespoke and affordable application. The prototype integrated joint milling methodology, case study and open-source software plugin ‘Dove’ presented in this paper, explores the efficacy of algorithmic processes in dynamically generating complex tooling paths and machine code for fabrication of bespoke dovetail and finger joints on a 6-axis industrial robot. The versatility, speed and precision of 6-axis robotic milling, allows us to liberate the efficiency, integrity and aesthetic of the dovetail and finger joint types from traditional application, and apply them to new architectures involving mass-customisation, complex form, and diverse materialities. In the development of full-immersion milling toolpaths and back-face filleting techniques that drastically reduce cutting times, tool path complexity and material waste, this study seeks to build upon past and current research by proposing a comparatively simple, efficient and more intuitive approach to robotically-fabricated integrated jointing for application at a variety of scales.
keywords	material and construction; fabrication; construction/robotics; digital craft; manual craft
series	ACADIA
email
last changed	2022/06/07 07:58

_id	ecaade2017_220
id	ecaade2017_220
authors	Quartara, Andrea and Figliola, Angelo
year	2017
title	Tangible Computing - Manufacturing of Intertwined Logics
doi	https://doi.org/10.52842/conf.ecaade.2017.2.115
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 115-122
summary	This paper explores the process of digital materialization through robotic fabrication techniques by presenting three wooden projects. The analysis of the case studies is oriented to underline the impact that computation had on architectural construction due to its methodological and instrumental innovations over the last decades. The absorption of computing and digital fabrication logics within the discipline is explored from either an architectural point of view and from the improvements related to automation of the constructive process. On the one hand the case studies are caught because of the desire to expand material complexity and, on the other hand because of the integration with other technological systems. The narrative allows gathering pros and cons in three different investigative macro areas: material culture, methodological oversights, and operative setbacks coming from digital machine and communicational constraints. This analytical investigation helps the definition of a new pathway for future researches, looking forward the assimilation of digital materiality learning in building construction.
keywords	computational design; file-to-factory; large-scale robotic woodworking; new production methods
series	eCAADe
email
last changed	2022/06/07 08:00

_id	ecaade2017_225
id	ecaade2017_225
authors	Rossi, Andrea and Tessmann, Oliver
year	2017
title	Geometry as Assembly - Integrating design and fabrication with discrete modular units
doi	https://doi.org/10.52842/conf.ecaade.2017.2.201
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 201-210
summary	This paper proposes a design and fabrication approach based on the conceptualization of architectural formations as spatial assemblies of discrete building blocks to be aggregated through custom robotic procedures. Such strategy attempts to create synergies between different technological methods and to define a new and open design space where discrete design, serial prototyping and robotic assembly can be exploited to create complex reconfigurable structures. With the aim to allow users to explore the field of discrete geometries for architectural application without need for prior programming knowledge, we developed a software framework for representing and designing with discrete elements, different digital fabrication techniques integrated with conventional production processes for serial prototyping of repetitive units, and custom robotic fabrication routines, allowing a direct translation from aggregated geometry to assembly toolpath. Together these methods aim at creating a more direct connection between design and fabrication, relying on the idea of discrete elements assembly and on the parallel between modular design and modularized robot code generation.
keywords	Digital Materials; Robotic Assembly; Discrete Design; Modular Fabrication; Design Tools
series	eCAADe
email
last changed	2022/06/07 07:56

_id	ecaade2017_039
id	ecaade2017_039
authors	Weissenböck, Renate
year	2017
title	ROBOTRACK - Linking manual and robotic design processes by motion-tracking
doi	https://doi.org/10.52842/conf.ecaade.2017.1.651
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 1, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 651-660
summary	This study investigates design opportunities fostered by fabrication processes, ex-ploring manual and robotic forming. It links handcraft and digital fabrication techniques by implementing a motion capture system. It suggests physical prototyping as a novel form of design research, operating in the dynamic field between human capabilities, machine skills, and material behavior. This paper presents a series of experimental case studies created in a seminar taught by the author at Graz University of Technology. In this course, students con-duct tactile experiments, forming panels by hand and by robot, guided by the material behav-ior and reaction. Thereby, they explore the creation of architectural form in a dynamic inter-play between human, machine and material. Movement and speed of hand forming proce-dures are recorded into digital data, and then converted into machine code, driving a 6-axis industrial robotic arm. By using the same set-up for manual and robotic forming, both pro-cesses are relatable.
keywords	design by making; digital fabrication; robotic fabrication; thermoforming; material behavior; motion tracking; craft; design education; design research; intuition; human machine interaction
series	eCAADe
type	normal paper
email
last changed	2022/06/07 07:58

_id	caadria2017_005
id	caadria2017_005
authors	Xia, Tian, Koh, Jing Lin, Chen, Yutong, Goh, Yi Qian and Dritsas, Stylianos
year	2017
title	Form-finding with Robotics - Fusing Physical Simulation and Digital Fabrication
doi	https://doi.org/10.52842/conf.caadria.2017.893
source	P. Janssen, P. Loh, A. Raonic, M. A. Schnabel (eds.), Protocols, Flows, and Glitches - Proceedings of the 22nd CAADRIA Conference, Xi'an Jiaotong-Liverpool University, Suzhou, China, 5-8 April 2017, pp. 893-902
summary	We present an experimental digital design and fabrication process investigating the integration of form-finding and industrial robotics. The design process is inspired by classical experiments producing minimal surfaces and tensile structures via physical simulation. The fabrication process resembles thermoforming whereby sheets of PET material are heat treated and while in a malleable state, where the material behaves like stretchable fabric, an industrial articulated robotic arm impresses a form while the sheet is air cooled and its final shape becomes stable and rigid. The three-dimensional plastic sheets are used as molds for glass-reinforced concrete casting. The key aspects of our approach include: (a) Mold-less fabrication: the design of our robotic end-effector can produce a range of free-form geometries without need for complex mold making (b) Reusable and durable artifacts: unlike traditional physical form-finding processes where the derived form is often ephemeral or fragile our process affords the detachment of a rigid artifacts which can be digitized, used as-is or employed in (c) Multi-stage fabrication: as the form-found geometry can be directly used for processes such as casting with excellent results in terms of surface finish. We present the design and development of our system and its deployment for an installation artwork.
keywords	Form-Finding; Digital Fabrication; Architectural Robotics
series	CAADRIA
email
last changed	2022/06/07 07:57

_id	caadria2017_018
id	caadria2017_018
authors	Fernando, Shayani, Reinhardt, Dagmar and Weir, Simon
year	2017
title	Waterjet and Wire-cutting Workflows in Stereotomic Practice - Material Cutting of Wave Jointed Blocks
doi	https://doi.org/10.52842/conf.caadria.2017.787
source	P. Janssen, P. Loh, A. Raonic, M. A. Schnabel (eds.), Protocols, Flows, and Glitches - Proceedings of the 22nd CAADRIA Conference, Xi'an Jiaotong-Liverpool University, Suzhou, China, 5-8 April 2017, pp. 787-797
summary	In the context of stereotomic practice, advanced fabrication with waterjet and wire-cutting of interlocking wave geometry has opened up new possibilities for crafting stone modules with precision and efficiency. This paper discusses the utilization of machined cutting techniques, the processes and workflows of fabricating joint systems for arched and vaulted surface geometries. It presents a comparative study with multiple criteria; such as geometry, method, material, machine and workflow. Furthermore, this paper presents research into the comparison between abrasive waterjet cutting and wire cutting of modules in stone and foam.
keywords	Stereotomy; Wire Cutting; WaterJet; Wave Blocks; Workflow
series	CAADRIA
email
last changed	2022/06/07 07:50

_id	caadria2017_002
id	caadria2017_002
authors	Haeusler, M. Hank, Muehlbauer, Manuel, Bohnenberger, Sascha and Burry, Jane
year	2017
title	Furniture Design Using Custom-Optimised Structural Nodes
doi	https://doi.org/10.52842/conf.caadria.2017.841
source	P. Janssen, P. Loh, A. Raonic, M. A. Schnabel (eds.), Protocols, Flows, and Glitches - Proceedings of the 22nd CAADRIA Conference, Xi'an Jiaotong-Liverpool University, Suzhou, China, 5-8 April 2017, pp. 841-850
summary	Additive manufacturing techniques and materials have evolved rapidly during the last decade. Applications in architecture, engineering and construction are getting more attention as 3D printing is trying to find its place in the industry. Due to high material prices for metal 3d printing and in-homogenous material behaviour in printed plastic, 3D printing has not yet had a very significant impact at the scale of buildings. Limitations on scale, cost, and structural performance have also hindered the advancement of the technology and research up to this point. The research presented here takes a case study for the application of 3D printing at a furniture scale based on a novel custom optimisation approach for structural nodes. Through the concentration of non-standard geometry on the highly complex custom optimised nodes, 3D printers at industrial product scale could be used for the additive manufacture of the structural nodes. This research presents a design strategy with a digital process chain using parametric modeling, virtual prototyping, structural simulation, custom optimisation and additive CAD/CAM for a digital workflow from design to production. Consequently, the digital process chain for the development of structural nodes was closed in a holistic manner at a suitable scale.
keywords	Digital fabrication; node optimisation; structural performance; 3D printing; carbon fibre.
series	CAADRIA
email
last changed	2022/06/07 07:49

_id	cf2017_443
id	cf2017_443
authors	Araya, Sergio; Veliz, Felipe; Quest, Sylvana; Truffello, Ricardo
year	2017
title	Igneous Tectonics: Turning disaster into resource through digital fabrication
source	Gülen Çagdas, Mine Özkar, Leman F. Gül and Ethem Gürer (Eds.) Future Trajectories of Computation in Design [17th International Conference, CAAD Futures 2017, Proceedings / ISBN 978-975-561-482-3] Istanbul, Turkey, July 12-14, 2017, pp. 443-456.
summary	This investigation aims to develop and establish digital fabrication and design techniques and protocols to process volcanic materials that have caused significant environmental and social damage, using them to reconstruct new and improved structures to replace those destroyed, palliating the negative effects of volcanic eruptions and contributing a new economic resource to affected communities. The study recovers underused material and explore its qualities, recovering lost stonemasonry skills though advanced CNC and robotic manufacturing.
keywords	Robotic manufacturing, parametric design, digital fabrication, material research, CNC stonemasonry.
series	CAAD Futures
email
last changed	2017/12/01 14:38

_id	acadia17_164
id	acadia17_164
authors	Brugnaro, Giulio; Hanna, Sean
year	2017
title	Adaptive Robotic Training Methods for Subtractive Manufacturing
doi	https://doi.org/10.52842/conf.acadia.2017.164
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 164-169
summary	This paper presents the initial developments of a method to train an adaptive robotic system for subtractive manufacturing with timber, based on sensor feedback, machine-learning procedures and material explorations. The methods were evaluated in a series of tests where the trained networks were successfully used to predict fabrication parameters for simple cutting operations with chisels and gouges. The results suggest potential benefits for non-standard fabrication methods and a more effective use of material affordances.
keywords	design methods; information processing; construction; robotics; ai & machine learning; digital craft; manual craft
series	ACADIA
email
last changed	2022/06/07 07:52

_id	acadia17_248
id	acadia17_248
authors	Felbrich, Benjamin; Fru?h, Nikolas; Prado, Marshall; Saffarian, Saman; Solly, James; Vasey, Lauren; Knippers, Jan; Menges, Achim
year	2017
title	Multi-Machine Fabrication: An Integrative Design Process Utilising an Autonomous UAV and Industrial Robots for the Fabrication of Long-Span Composite Structures
doi	https://doi.org/10.52842/conf.acadia.2017.248
source	ACADIA 2017: DISCIPLINES & DISRUPTION [Proceedings of the 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA) ISBN 978-0-692-96506-1] Cambridge, MA 2-4 November, 2017), pp. 248-259
summary	Fiber composite materials have tremendous potential in architectural applications due to their high strength-to-weight ratio and their ability to be formed into complex shapes. Novel fabrication processes can be based on the unique affordances and characteristics of fiber composites. Because these materials are lightweight and have high tensile strength, a radically different approach to fabrication becomes possible, which combines low-payload yet long-range machines—such as unmanned aerial vehicles (UAV)—with strong, precise, yet limited-reach industrial robots. This collaborative concept enables a scalable fabrication setup for long-span fiber composite construction. This paper describes the integrated design process and design development of a large-scale cantilevering demonstrator, in which the fabrication setup, robotic constraints, material behavior, and structural performance were integrated in an iterative design process.
keywords	material and construction; fabrication; construction; robotics
series	ACADIA
email
last changed	2022/06/07 07:50

_id	ecaade2017_210
id	ecaade2017_210
authors	Jimenez Garcia, Manuel, Soler, Vicente and Retsin, Gilles
year	2017
title	Robotic Spatial Printing
doi	https://doi.org/10.52842/conf.ecaade.2017.2.143
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 143-150
summary	There has been significant research into large-scale 3D printing processes with industrial robots. These were initially used to extrude in a layered manner. In recent years, research has aimed to make use of six degrees of freedom instead of three. These so called "spatial extrusion" methods are based on a toolhead, mounted on a robot arm, that extrudes a material along a non horizontal spatial vector. This method is more time efficient but up to now has suffered from a number of limiting geometrical and structural constraints. This limited the formal possibilities to highly repetitive truss-like patterns. This paper presents a generalised approach to spatial extrusion based on the notion of discreteness. It explores how discrete computational design methods offer increased control over the organisation of toolpaths, without compromising design intent while maintaining structural integrity. The research argues that, compared to continuous methods, discrete methods are easier to prototype, compute and manufacture. A discrete approach to spatial printing uses a single toolpath fragment as basic unit for computation. This paper will describe a method based on a voxel space. The voxel contains geometrical information, toolpath fragments, that is subsequently assembled into a continuous, kilometers long path. The path can be designed in response to different criteria, such as structural performance, material behaviour or aesthetics. This approach is similar to the design of meta-materials - synthetic composite materials with a programmed performance that is not found in natural materials. Formal differentiation and structural performance is achieved, not through continuous variation, but through the recombination of discrete toolpath fragments. Combining voxel-based modelling with notions of meta-materials and discrete design opens this domain to large-scale 3D printing. Please write your abstract here by clicking this paragraph.
keywords	discrete; architecture; robotic fabrication; large scale printing; software; plastic extrusion
series	eCAADe
email
last changed	2022/06/07 07:52

_id	ecaade2017_094
id	ecaade2017_094
authors	Jovanovic, Marko, Vucic, Marko, Mitov, Dejan, Tepavèeviæ, Bojan, Stojakovic, Vesna and Bajsanski, Ivana
year	2017
title	Case Specific Robotic Fabrication of Foam Shell Structures
doi	https://doi.org/10.52842/conf.ecaade.2017.2.135
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 2, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 135-142
summary	Most recent developments in the design of free form shells pursue new approaches in digital fabrication based on material properties and construction-aware design. In this research we proposed an alternative approach based on implementation of expanded polystyrene (EPS), a non-standard material for shells, in the process of industrial robot fabrication that enables fast and precise cutting of building elements. Main motivation for using EPS as a building material was driven by numerous advantages when compared to commonly used materials such as: recycleability, cost-efficiency, high earthquake resistance, durability and short assembly time. We describe case specific fabrication approach based on numerous production constraints (size of the panels, limited robot workspace, in situ conditions) that directly design the process.
keywords	computational design; shell structures; robotic fabrication; hot-wire cutting; multi-robot control
series	eCAADe
email
last changed	2022/06/07 07:52

_id	ecaade2017_056
id	ecaade2017_056
authors	Kontovourkis, Odysseas
year	2017
title	Multi-objective design optimization and robotic fabrication towards sustainable construction - The example of a timber structure in actual scale
doi	https://doi.org/10.52842/conf.ecaade.2017.1.337
source	Fioravanti, A, Cursi, S, Elahmar, S, Gargaro, S, Loffreda, G, Novembri, G, Trento, A (eds.), ShoCK! - Sharing Computational Knowledge! - Proceedings of the 35th eCAADe Conference - Volume 1, Sapienza University of Rome, Rome, Italy, 20-22 September 2017, pp. 337-346
summary	This paper attempts to reconsider the role of advanced tools and their effective implementation in the field of Architecture, Engineering and Construction (AEC) through the concept of sustainable construction. In parallel, the paper aims to discuss and find common ground for communication between industrial and experimental processes guided by sustainable criteria, an area of investigation that is currently in the forefront of the research work conducted in our robotic construction laboratory. Within this frame, an ongoing work into the design, analysis and automated construction of a timber structure in actual scale is exemplified and used as a pilot study for further discussion. Specifically, the structure consists of superimposed layers of timber elements that are robotically cut and assembled together, formulating the overall structural system. In order to achieve a robust, reliable and economically feasible solution and to control the automated construction process, a multi-objective design optimization process using evolutionary principles is applied. Our purpose is to investigate possibilities for sustainable construction considering minimization of cost and material waste, and in parallel, discussing issues related to the environmental impact and the feasibility of solutions to be realized in actual scale.
keywords	Multi-objective optimization; robotic fabrication; cost and material waste minimization; sustainable construction; timber structure
series	eCAADe
email
last changed	2022/06/07 07:51

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