2021
DOI: 10.52842/conf.caadria.2021.1.583
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Automatic Assembly of Jointed Timber Structure using Distributed Robotic Clamps

Abstract: 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 struct… Show more

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Cited by 14 publications
(7 citation statements)
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“…The assembly of the DFAB project explore dual-robot fabrication of timber frame structures (Graser et al, 2021). The assembly of tenon-and-mortise joints-based timber structures through the flexible use of robotic grippers and tool changers have also been recently explored (Leung et al, 2021), as well as the off-site robotic glue-pressing of timber assemblies (Wagner, Alvarez, Kyjanek, et al, 2020). Currently, the research of robotic timber assembly is mainly carried out in laboratories and factories.…”
Section: Robotic Timber Assemblymentioning
confidence: 99%
See 1 more Smart Citation
“…The assembly of the DFAB project explore dual-robot fabrication of timber frame structures (Graser et al, 2021). The assembly of tenon-and-mortise joints-based timber structures through the flexible use of robotic grippers and tool changers have also been recently explored (Leung et al, 2021), as well as the off-site robotic glue-pressing of timber assemblies (Wagner, Alvarez, Kyjanek, et al, 2020). Currently, the research of robotic timber assembly is mainly carried out in laboratories and factories.…”
Section: Robotic Timber Assemblymentioning
confidence: 99%
“…However, their method only demonstrated the assembly of a few small sized elements with a simple lap joint geometry. Leung et al (2021) used distributed high force clamps to assemble structures also with simple tight-fitting lap joints.…”
Section: State Of the Artmentioning
confidence: 99%
“…The assembly of the DFAB project explore dual-robot fabrication of timber frame structures (Graser et al, 2021). The assembly of tenon-and-mortise joints-based timber structures through the flexible use of robotic grippers and tool changers have also been recently explored (Leung et al, 2021), as well as the off-site robotic glue-pressing of timber assemblies (Wagner, Alvarez, Kyjanek, et al, 2020). Currently, the research of robotic timber assembly is mainly carried out in laboratories and factories.…”
Section: Robotic Timber Assemblymentioning
confidence: 99%
“…Another strategy consists in increasing the force of the robot end effector. Remote-controlled robotic clamps were developed by Leung et al for the insertion of half-lap joints (Leung et al 2021). The clamps can detach from the robot and synchronously apply a 3 kN force.…”
Section: State Of the Artmentioning
confidence: 99%