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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House Block was designed and built using AUAR’s discrete housing system consisting of a kit of parts, known as Block Type A. Each block was CNC milled from a single sheet of plywood, assembled by hand, and then post-tensioned on site. Constructed from 270 identical blocks, there are no predefined geometric types or hierarchy between parts. The discrete enables an open-ended, adaptive system where each block can be used as a column, floor slab, wall, or stair—allowing for disconnection, reconfiguration, and reassembly (Retsin 2019). The democratisation of design and production that defines the discrete creates points for alternative value systems to enter, for critical realignments in architectural production.
To test the approach, a single catenary arch was generated using form-finding techniques and sequentially built from foam blocks. Moving forward we show the relationship between the joint valence (largest number of joined branches) of a multi-branched structure and the minimum number of robotic arms required for assembly using our initial technique. With only two robotic arms available, the technique was further developed to reduce the required number of arms per arch branch from two to one by attaching caterpillar tracks at the block supporting end effector. This allows a human to load the next block and the arm to move forward along the arch while maintaining equilibrium. Results show that robotic equilibrium scaffold free arch assembly is possible and can reduce scaffold waste and maintain the material efficiency of compression only structures. Future work will explore further applications of assistive robotics in construction replacing static construction aids with dynamic sensory feedback of equilibrium forces.
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