Publication: Enhanced co-design and evaluation of a collective robotic construction system for the assembly of large-scale in-plane timber structures
Program
KU-Authors
KU Authors
Co-Authors
Leder, Samuel
Kim, HyunGyu
Menges, Achim
Advisor
Publication Date
Language
en
Type
Journal Title
Journal ISSN
Volume Title
Abstract
Collective robotic construction (CRC) is an emerging approach to construction automation based on the collaboration among teams of small mobile robots. This paper enhances an existing modular CRC system, showcasing its capability to assemble full-scale in-plane timber structures. Utilizing strategies of co-design, the robotic actuators were updated to accommodate material tolerance in the passive building material, timber struts, which they use for locomotion and assemble into structures. A custom effector was also developed to establish architecturally relevant, structural connections between struts. The enhancements address two major challenges in CRC system development: material tolerance and connections. To showcase these research findings and compare with other construction automation systems, a reinforced slab structure was assembled. With a building envelop of 0.485 m3, this is one of the largest structures assembled by a CRC system. As such, the work highlights the potential applicability of CRC in real-world architectural projects. © 2024 The Author(s)
Description
Source:
Automation in Construction
Publisher:
Elsevier B.V.
Keywords:
Subject
Mechanical Engineering