| 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 |
| 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 |
| doi |
https://doi.org/10.52842/conf.caadria.2021.1.583
|
| 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 |
|
| full text |
 file.pdf (9,638,309 bytes) |
| references |
Content-type: text/plain
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| last changed |
2022/06/07 07:52 |
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