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CumInCAD is a Cumulative Index about publications in Computer Aided Architectural Design
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_id	caadria2021_124
id	caadria2021_124
authors	Leung, Pok Yin Victor, Apolinarska, Aleksandra Anna, Tanadini, Davide, Gramazio, Fabio and Kohler, Matthias
year	2021
title	Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps
doi	https://doi.org/10.52842/conf.caadria.2021.1.583
source	A. Globa, J. van Ameijde, A. Fingrut, N. Kim, T.T.S. Lo (eds.), PROJECTIONS - Proceedings of the 26th CAADRIA Conference - Volume 1, The Chinese University of Hong Kong and Online, Hong Kong, 29 March - 1 April 2021, pp. 583-592
summary	This paper presents a novel robotic assembly method for timber structures with integral timber joints, specifically, crossed-half-lap joints. The proposed method uses a set of custom-built, remote-controlled, high-force robotic clamps to operate in collaboration with an industrial robotic arm to overcome challenges of robotic timber joint assembly, such as providing large assembly forces and correcting misalignments. This method enables automatic assembly of non-repetitive and spatially connected timber structures. We developed custom software for modelling, visualization and feasibility-checking for structures compatible with the proposed assembly method. As a proof of concept, we designed and robotically assembled a spatial frame structure (4.8 x 3.0m footprint, 3.4m tall) comprising 40 pieces of 100x100mm profile timber elements.
keywords	Robotic Assembly; Spatial Timber Structure; Wood Joints; Distributed Robots
series	CAADRIA
email
last changed	2022/06/07 07:52

_id	acadia23_v3_189
id	acadia23_v3_189
authors	Leung, Pok Yin Victor; Huang, Yijiang
year	2023
title	Task and Motion Planning for Robotic Assembly
source	ACADIA 2023: Habits of the Anthropocene: Scarcity and Abundance in a Post-Material Economy [Volume 3: Proceedings of the 43rd Annual Conference for the Association for Computer Aided Design in Architecture (ACADIA) ISBN 979-8-9891764-1-0]. Denver. 26-28 October 2023. edited by A. Crawford, N. Diniz, R. Beckett, J. Vanucchi, M. Swackhamer 24-32.
summary	When programming robotic assembly processes, it is often necessary to create a sequential list of actions. Some actions are robotic motions (requiring motion trajectory), and some are for controlling external equipment, such as grippers and fastening tools. The act of planning these actions and motion trajectories is called Task Planning and Motion Planning. Existing literature in robotics explored many different planning algorithms for planning a single trajectory to planning a complete sequence of tasks where continuity is maintained [Garrett et al, 2021]. Many application literature focused on the TAMP for service robots, medical robots, and self-driving cars, while there are few examples for architectural applications. For digital fabrication and automated construction, the planning method has to be adapted to the needs of architectural assemblies and the scale of construction [Leung et al, 2021]. Some of the unique challenges are the highly bespoke workpiece and assembly geometry, the large workpiece (e.g., long beams), and a dense collision environment. This three-day hybrid workshop addressed the needs of the architectural robotics community to use industrial robotic arms to assemble highly bespoke objects. The objects do not have any repetitive parts or assembly targets. The workshop leaders shared their experiences using industrial robots to construct large-scale timber structures. One of the most useful techniques is the recently published “Flowchart Planning Method,” where task sequence is planned using a flowchart, and motion trajectories are planned in a second pass [Huang et al, 2021].
series	ACADIA
type	workshop
last changed	2024/04/17 14:00

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