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Construction Robotics
Number of Followers: 4  Hybrid journal (It can contain Open Access articles)ISSN (Print) 2509-811X - ISSN (Online) 2509-8780 Published by Springer-Verlag  [2468 journals]
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- Slimlam method: robotically bandsawn timber for Glulam applications
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Abstract: Abstract Slimlam is a materially optimized manufacturing method to efficiently construct structurally optimized Glulam products through robotic fabrication. Using a bandsaw end effector on a 6-axis robotic arm, boards are programmed with varying thickness and assembled in a specific sequence to create beam shapes that taper to resist the loading effects. This approach reduces the total amount of material and weight in glulam beam products while maintaining a load capacity comparable to uniform glulam beams with a consistent rectangular cross-section made of dimensional lumber. While the method is not dependent on a particular wood species, the research utilizes ash wood, a locally available hardwood in North America due to the ongoing Emerald ash borer epidemic. As a method derived from raw materials, Slimlam significantly reduces the total amount of material in glulam products by 30%, advocating for a computational integration between sawmills and glulam manufactures. The research will test the viability of a simply supported, varied thickness glulam beam through (1) geometric constraints within the digital model, (2) the material properties of a white-ash glulam beam, (3) finite-element analysis, (4) the workflow for robotic fabrication, and (5) lamination and finishing procedures. Two Slimlam prototypes along with parallel structure simulations were produced as a derivative of this investigation.
PubDate: 2023-05-18
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- Enhancing safety in human–robot collaboration through immersive
technology: a framework for panel framing task in industrialized
construction-
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Abstract: Abstract Emerging construction technologies, such as robotics, can promote the shift towards the industrialization of the construction industry by addressing the pressing labor shortage challenge and boosting the productivity of construction projects. However, human–robot collaboration in industrialized construction requires close interactions between human workers and construction robotics, which introduces new hazards that must be mitigated to ensure the safety of construction workers. The lack of existing studies addressing the technical requirements for a safe, fenceless collaboration between humans and industrial robotic arms presents a critical challenge for the integration of robotics in industrialized construction. This study proposes a framework for mapping the work zones of human–robot collaboration in a fenceless environment by dynamically assessing the safety of panel framing task. Following ISO/TS 15066:2016 guidelines, the proposed framework employs mixed reality technology and machine learning prediction models, by means of a neural network, to map safe zones in the panel framing workstation. The proposed framework can support the factory floor planning process during the strategic planning phase by determining the size of robotic stations according to the mapped work zones (i.e., safe zones). As such, this research facilitates the use of robotics and enhances automation in industrialized construction by providing valuable insights into safe robotics integration.
PubDate: 2023-05-13
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- Special issue: Implementation-Oriented Construction Robotics
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PubDate: 2023-05-09
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- Projector-based augmented stacking framework for irregularly shaped
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Abstract: Augmented reality in additive fabrication is predominantly applied to the manufacturing of structures from regularly shaped materials. Our work however embraces natural heterogeneity, by focusing on the assembly of irregularly shaped elements such as mineral scraps. We introduce a computer-aided framework with a 3D stacking engine and an augmented reality interface capable of guiding users through the balanced positioning of discrete and highly nonuniform objects according to an on-the-fly computed model and without prior trimming of the building unit. The pipeline is tested by the construction of two dry-stone structures (i.e., lacking any adhesives), and its accuracy is validated with a comparative study between the point cloud of the as-built digitized artifacts and the generated execution model, which shows an average 2.9 ± 1.8 cm error between the stones of the two models. We finally show how the proposed framework could be improved both in terms of software and hardware. In the interests of reproducibility, all the methods are shared as open source with the community. Graphical abstract
PubDate: 2023-05-05
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- Cobot uptake in construction: embedding collaborative robots in digital
construction processes-
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Abstract: Abstract The paper at hand investigates the interrelation of automation and collaboration in digital construction processes. Labor shortage, demographic change, and a deficit in productivity motivate automation in construction. While the automation of single tasks is on its way, there is a lack of collaboration between automated equipment and robots along the digital construction process. To foster the development of collaborating robots, definitions and classification criteria for automation and collaboration activities are given. With these criteria at hand, it is possible to classify scientific examples from literature. On top of that, the paper introduces a prototyping framework for automated and collaborative equipment. The framework is thoroughly tested in an earthworks case study consisting of automated and collaborative excavation and compacting of an area. Through the collaboration of an automated excavator and vibratory plate, it is possible to simultaneously execute the ‘excavation’ and ‘compaction’ task, speeding up the overall earthworks process by a factor of almost two. Along with a higher productivity, the high degree of automation allows for safer work, as less workers are exposed to dangerous workspaces and the quality increases through continuous quality checking and integrated documentation of as-built data in BIM models.
PubDate: 2023-04-20
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- Insights into automation of construction process using parallel-kinematic
manipulators-
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Abstract: Abstract This article discusses challenges, experiences and lessons learned so far while transforming a masonry build system based mostly on manual labour into a robot automated build system. Our motivation for selection of this masonry process is to try out how robot automation could impact the architects in their design work by providing a tool to directly manipulate wall expression down to individual brick level. Such manipulation is often much too costly for manual labour today. Moreover, masonry is a challenging application to automate. Understanding the manual processes involved and transforming them into automation equivalents faces several challenges; among them handling and distribution of the different materials involved, selection of tooling, sensing for handling of variation and digital tooling for the programming of the process. A novel parallel-kinematic manipulator (PKM) with computerized numerical control (CNC) is used as target for experiments, because the performance properties in stiffness, workspace and accuracy will allow us to extend work into further construction processes involving heavy and dirty manual labour.
PubDate: 2023-04-17
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- Path planning for graded concrete element fabrication
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Abstract: Abstract The technology of functionally graded concrete (FGC) is a new methodology in the field of concrete construction, striving for mass savings by adjusting the elements interior design. A promising approach herein is meso-gradation, where concrete hollow spheres are placed inside the formwork before casting the element; this allows up to 50% mass savings without a loss in load-bearing capacity, whilst also ensuring recyclability compared to e.g. bubble decks. In order to prevent damage/displacement of the spheres during automated fabrication, the extruded concrete flow must avoid the spheres, whilst neatly covering the elements area in order to prevent cavities. Both requirements formulate a complex path planning problem that must be solved in order to achieve automated fabrication. In this paper, we propose a method for solving this problem, which is based on theoretical findings on Hamiltonian triangulations. Our approach is based on the idea that the elements area is triangulated, such that all sphere centers are corners of triangles. For each triangle, a smooth path can be planned straightforwardly on a consideration of the geometry, such that the global path is made of a sequence of local ones. This necessitates finding a triangulation that is hamiltonian, i.e. a sequence where all triangles are visited exactly once. To this end, we first present a new class of triangulations and proof their hamiltonicity, followed by an algorithm that generates such triangulations on certain FGC element geometries. This is followed by the local path planning problem, whose special structure with start/end tangential and curvature constraints facilitates the use of a polar coordinate approach.
PubDate: 2023-04-17
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- “Imagine and make”: teaching construction robotics for higher
education students-
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Abstract: Abstract The use of robotics in construction projects is still in its infancy despite the opportunities that robots can present for the improvement of construction practices. One of the strategies to effectively increase the reliance on robots in construction is increasing the knowledge and improving the educational programs about robotics for university students. This paper contributes to the ongoing efforts worldwide to improve the teaching methods about construction robotics through the presentation of a novel method called “Imagine and Make”, in which students learn how to integrate robotics in different aspects and practices in construction projects. The method has been applied at Centrale Lille in France since 2018. The results of the application of “Imagine and Make” in the first semester of 2021–2022, evaluation by students, and teaching outcomes are reported in this paper.
PubDate: 2023-04-15
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- Excavation pits—progress estimation and cause of delay
identification-
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Abstract: Abstract This work presents a method for automated excavation speed and progress estimation. First, a measure for the progress speed of an excavation pit is taken from the literature and evaluated regarding the possibility of automation. For each possible parameter, an automated extraction algorithm is presented. The used system is an autonomous excavator arm of a backhoe loader where the used hardware and software system is described. An experimental evaluation of the presented approach has been done with the autonomous system for a small trench, including multiple digging cycles. The resulting measurements seem to include some systematic errors which could be identified and suitable sanity checks could be implemented, removing the erroneous measurements. The remaining measurements were used to determine the excavation speed of the autonomous excavator arm and compared to the values of experienced and amateur operators. The resulting speed and the relevant parameters are then sent to a web application called “DiBa” to notice a potential delay. If a measurement is smaller or larger than expected a fault identification is done in the DiBa.
PubDate: 2023-04-12
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- Performance and effectiveness of a passive back-support exoskeleton in
manual material handling tasks in the construction industry-
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Abstract: Abstract Work-related musculoskeletal disorders are a leading contributor to workplace injuries in the construction industry, with the low back being the most affected body part. Recent developments have led to the introduction of exoskeletons on industrial job sites as a means to mitigate the risk of work-related musculoskeletal disorders. Due to the newness of industrial exoskeletons, the successful application of this technology in the construction industry requires a thorough evaluation of different aspects of its adoption, especially user acceptance, to ensure a successful and effective uptake. As manual material handling tasks are the most common cause of low back injuries, this study aimed to evaluate the impact of using exoskeletons when adopting different postures during dynamic and static manual material handling tasks. An experiment was carried out and data reflecting Rate of Perceived Exertion, Level of Discomfort, overall fit and comfort, effectiveness, and interference levels were collected. Overall, the participants perceived the exoskeleton suit as effective, with discomfort being reduced in the low back and most other body parts. However, the results indicated the importance of considering the specific task at hand (e.g., dynamic vs static manual material handling) and the posture adopted (e.g., squatting vs stooping) when evaluating and selecting an exoskeleton for construction tasks. Also, the results show differences between male and female participants in most usability and effectiveness responses. In conclusion, passive exoskeletons have the potential to be adopted to reduce the rate of WMSDs in construction. However, proper training and supervision are required on the postures adopted by the workers, based on the specific characteristics of the task carried out. Also, different results from male and female responses show that different exoskeletons, or an exoskeleton with two different designs, may lead to higher efficiency than using one exoskeleton for both groups.
PubDate: 2023-04-11
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- A trajectory-based explicit reference governor for the laying activity
with heavy pre-fabricated elements-
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Abstract: Introduction In recent years, robotic solutions for the construction industry have attracted the attention of various researchers and the market. Several robotic systems have been proposed for the construction of buildings involving heavy suspended elements. However, most of the solutions proposed so far did not pass the prototype status. Objectives The first objective of this paper is to describe an innovative bricklaying concept based on a lifting mechanism and a lightweight robotic arm to handle and place heavy suspended objects ensuring a high level of precision during the planned operations. The second objective is to design a constrained control strategy that belongs to the so-called “Explicit Reference Governor (ERG)” theory, to properly control the proposed robotic system ensuring correct and safe cooperation. Methods First the mathematical model of the system under consideration is developed. Some mechanical properties of the proposed multi-robot system are analyzed. Then, the resulting model is exploited to design a constrained control strategy to ensure: (i) the correct cooperation between the robot and the lifting mechanism to move the payload to a desired position; (ii) the safe cooperation between the two sub-units so that the robot will never be overloaded. Results To demonstrate the feasibility of the proposed concept and the effectiveness of the proposed control solution, realistic CAD-based physical simulations are presented. Through simulations, we are able to demonstrate that the multi-robot system is capable of correctly positioning a 100 kg block. The proposed control scheme ensures that the constraints of the system are always satisfied and the robotic arm is never in an overload situation. Conclusion This paper proposed a constrained control scheme based on the ERG framework for controlling a mechanical system to place heavy prefabricated elements. In the first part of this paper, a mathematical model of the overall system is derived, then the constrained control scheme is described. Simulation results show that the proposed control scheme is able to fulfill the constraints of the system while moving the suspended object to its final position.
PubDate: 2023-03-29
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- Comparison of on-site and off-site robot solutions to the traditional
framing and drywall installation tasks-
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Abstract: Abstract Given the efforts to automate construction tasks on- and off-site, construction innovation leaders should determine whether robots are beneficial compared to traditional methods. However, we have not found a study comparing on and off-site robots to traditional methods. This paper develops a case study contrasting the impact of on-site drywall placing robots and off-site framing to the traditional framing and drywall installation. Strenuous work reduced from 90 to 57% with the on-site robot and 44% with the off-site robot. Both robots minimized the 3% traditional rework. Prefabrication cut the framing and drywall schedule by 38% and the on-site robot by 23% working 16-h shifts. Added costs included the robot service (50% increase) and the prefabrication logistics (45% increase). Finally, the paper assesses whether the traditional versus single-task robot evaluation method is suitable for off-site prefabrication robots. Limitations included the schedule comparison units, business model adoption, and environmental impacts.
PubDate: 2023-03-24
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- Eggshell Pavilion: a reinforced concrete structure fabricated using
robotically 3D printed formwork-
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Abstract: Abstract This paper discusses the design, fabrication, and assembly of the ‘Eggshell Pavilion’, a reinforced concrete structure fabricated using 3D printed thin shell formwork. Formworks for columns and slabs were printed from recycled plastic using a pellet extruder mounted to a robotic arm. The formworks were cast and demoulded, and the finished elements were assembled into a pavilion, showcasing the architectural potential of 3D printed formwork. The Eggshell Pavilion was designed and fabricated within the scope of a design studio at ETH Zurich. The structure was designed using a fully parametric design workflow that allowed for incorporating changes into the design until the fabrication. The pavilion consists of four columns and floor slabs. Each column and floor slab is reinforced with conventional reinforcing bars. Two different methods are used for casting the columns and floor slabs. The columns are cast using ‘Digital casting systems’, a method for the digitally controlled casting of fast-hardening concrete. Digital casting reduces the hydrostatic pressure exerted on the formwork to a minimum, thereby enabling the casting of tall structures with thin formwork. The floor slabs are cast with a commercially available concrete mix, as the pressure exerted on the formwork walls is lower than for the columns. In this research, 3D printed formwork is combined with traditional reinforcing, casting, and assembly methods, bringing the technology closer to an industrial application.
PubDate: 2023-02-16
DOI: 10.1007/s41693-023-00090-x
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- Special issue on human robot collaboration
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PubDate: 2023-01-12
DOI: 10.1007/s41693-022-00088-x
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- Beyond googly eyes: stakeholder perceptions of robots in construction
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Abstract: Abstract The interest in advanced robotic equipment in construction has increased in recent years. However, actual industry adoption lags behind—and fundamental considerations might be at fault. To date, little scholarship in Architecture, Engineering and Construction (AEC) addresses the stakeholder perception of construction robot design. Therefore, we ask, “How do visual attributes of a construction robot influence the perception of AEC stakeholders'” To conduct our study, we performed a bibliometric analysis on a corpus of 59 scholarly research articles, 5 expert interviews and created and pre-validated a robot database of 50 robot pictures classified on their visual attributes of morphology, color and material. As a result, we present a study with 161 construction professionals who judged these robots based on three visual main criteria: ease of use, work task adaptability and risk of job loss. In total, more than 6500 data points are collected and analyzed using binary logistic regression. The five key findings are that construction professionals perceive that: (1) Zoomorphic (animal-like) robots are easier to use than anthropomorphic (human-like) or mechanomorphic (machine-like) robots, (2) Bright robots are easier to use than dark robots, (3) Zoomorphic and anthropomorphic robots are more multifunctional than mechanomorphic robots, (4) Anthropomorphic and mechanomorphic robots are more of a risk to job loss than zoomorphic robots, and (5) Dark robots are more of a risk to job loss than bright ones. These results are important for academics and practitioners that aim to increase the likelihood of positive stakeholder perception of robots in construction. The findings can further help to develop specific user-centered design principles. Such implementation can reduce the risk of construction professionals rejecting future robots when they are introduced at the AEC job site.
PubDate: 2023-01-11
DOI: 10.1007/s41693-022-00087-y
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- Tie a knot: human–robot cooperative workflow for assembling wooden
structures using rope joints-
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Abstract: Abstract In recent years, research in computational design and robotic fabrication in architecture, engineering, and construction (AEC) has made remarkable advances in automating construction processes, both in prefabrication and in-situ fabrication. However, little research has been done on how to leverage human-in-the-loop processes for large-scale robotic fabrication scenarios. In such processes, humans and robots support each other in fabrication operations that neither of them could handle alone, leading to new opportunities for the AEC domain. In this paper, we present Tie a knot, an experimental study that introduces a set of digital tools and workflows that enables a novel human–robot cooperative workflow for assembling a complex wooden structure with rope joints. The system is designed for a dually augmented human–robot team involving two mobile robots and two humans, facilitated by a shared digital-physical workspace. In this shared workspace, digital spatial data informs humans about the design space and fabrication-related boundary conditions for decision-making during assembly. As such, humans can manually place elements at locations of their choice, following a set of design rules that affect the gradual evolution of the structure. In direct response to such manually placed elements, the cooperating robots can continue the assembly cycle by precisely placing elements and stabilizing the overall structure. During robotic stabilization, the humans make rope connections, which require high dexterity. The concept and workflow were physically implemented and validated through the cooperative assembly of a complex timber structure over five days. As part of this experimental investigation, we demonstrated and evaluated the performance of two tracking methods that allowed the digitization of the manually placed elements. In closing, the paper discusses the technological challenges and how a hybrid human–robot team could open new avenues for digital fabrication in architecture, accelerating the adoption of robotic technology in AEC.
PubDate: 2022-12-10
DOI: 10.1007/s41693-022-00083-2
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- Towards human–robot collaboration in construction: current cobot
trends and forecasts-
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Abstract: Abstract Collaborative robots, or cobots, provide opportunities for their use in a range of complex scenarios in different industries, including construction. As a variant of industrial robots commonly used in automation, cobots incorporate inbuilt safety measures, lower costs, and easier operator programming. This article questions the state of recent peer-reviewed research regarding the uptake and implementation of collaborative robotics in the construction industry. A ‘horizon scanning’ review of literature is presented in this article to uncover recent trends and forecasts in cobotics research specific to the construction industry. The horizon scan targets examples of human–robot collaboration (HRC) and other human–robot interactions (HRI) focussed on construction tasks. By examining where HRC has been applied in construction, we identify which drivers, enablers, and barriers that influence the future of construction cobots. Human-readable task models coupled with vision systems, such as augmented reality or haptic feedback and wearable interaction devices are strong enablers in how HRC can be better adopted. Most existing research into producing diversity in robot interaction methods for HRC prescribes to overcoming static approaches, which is well suited to answering the ever-changing nature of construction sites. On the other hand, the dynamic nature of construction sites and worker perceptions impact the uptake of new technologies in industry where cobots are often mistaken for highly automated industrial arms. Based on these findings, the need to build trust through successful use cases and case studies that demonstrate successful outcomes and productivity evaluations are necessary to overcome the barriers to cobot adoption in the construction industry.
PubDate: 2022-12-02
DOI: 10.1007/s41693-022-00085-0
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- Cable Robotic 3D-printing: additive manufacturing on the construction site
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Abstract: Abstract This paper outlines an important step in characterizing a novel field of robotic construction research where a cable-driven parallel robot is used to extrude cementitious material in three-dimensional space, and thus offering a comprehensive new approach to computational design and construction, and to robotic fabrication at larger scales. Developed by the Faculty of Art and Design at Bauhaus-University Weimar (Germany), the faculty of Architecture at the University of Applied Sciences Dortmund (Germany) and the Chair of Mechatronics at the University of Duisburg-Essen (Germany), this approach offers unique advantages over existing additive manufacturing methods: the system is easily transportable and scalable, it does not require additional formwork or scaffolding, and it offers digital integration and informational oversight across the entire design and building process. This paper considers 1) key research components of cable robotic 3D-printing (such as computational design, material exploration, and robotic control), and 2) the integration of these parameters into a unified design and building process. The demonstration of the approach at full-scale is of particular concern.
PubDate: 2022-10-22
DOI: 10.1007/s41693-022-00082-3
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- A vision-based sensing framework for adaptive robotic tooling of
indefinite surfaces-
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Abstract: Abstract Although robotic arms provide precision and control in the fabrication process, they are limited in sensing the environment and responding to it accordingly. This limitation poses significant challenges as robotic tooling operations can only be carried out on surfaces that are known digitally. To address this limitation, we propose a vision-based sensing framework to digitally reconstruct and register the work environment prior to robotic tooling operations, with the goal of enabling tooling operations to be carried out on indefinite surfaces. The paper presents the validation of the hardware and software components of the proposed framework for accuracy, reliability, and efficiency in robotic fabrication. Through this validation study, we explore the effects of surface geometry, camera pose configurations, and reconstruction resolution on digital reconstruction and registration accuracy and fabrication feasibility. Moreover, we demonstrate that this framework can be adapted to different fabrication scenarios, including additive and subtractive tooling operations. In a broader perspective, we postulate that the study presented in this paper lays an open-source foundation and a low-cost alternative for future research that can be operationally and computationally scaled and adapted for various areas of applications that deal with complex design-fabrication scenarios.
PubDate: 2022-10-03
DOI: 10.1007/s41693-022-00081-4
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- Design considerations for robotically assembled through-tenon timber
joints-
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Abstract: Abstract This research investigates the robotic assembly of timber structures connected by wood–wood connections. As the digitization of the timber construction sector progresses, digital tools, such as industrial robotic arms and Computer Numerical Control machines, are becoming increasingly accessible. The new-found ease with which wood can be processed stimulates a renewed interest in traditional joinery, where pieces are simply interlocked instead of being connected by additional metallic parts. Previous research established a computational workflow for the robotic assembly of timber plate structures connected by wood–wood connections. This paper focuses on determining the physical conditions that allow inserting through-tenon joints with a robot. The main challenge lies in minimizing the clearance between the tenon and the mortise in order to keep the connections as tight as possible. An experimental protocol has, therefore, been developed to quantitatively assess the performance of the insertion according to different geometric parameters. Robotic insertion tests have been carried out on over 50 samples of 39 mm Laminated Veneer Lumber. Results showed the interest of tapering the joint with a 5 degrees angle, in addition to introducing an offset of 0.05 mm, to minimize friction forces during the insertion. This configuration was confirmed by successfully assembling a 2,50 m long box girder with the same parameters.
PubDate: 2022-09-26
DOI: 10.1007/s41693-022-00080-5
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