FIBERBOTS: Design and Digital Fabrication of Tubular Structures Using Robot Swarms

Kayser, Markus; Cai, Levi; Bader, Christoph; Falcone, Sara Elizabeth; Inglessis, Nassia; Darweesh, Barrak; Costa, João; Oxman, Neri

doi:10.1007/978-3-319-92294-2_22

Cited by 19 publications

(15 citation statements)

References 10 publications

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“…As architecture rarely goes into serial production and almost every project is a unique structure, complex formwork often defies the economical applicability of FRP in architectural projects. Still, FRP also show great potential for strong and lightweight structures in architecture (Reichert et al 2014;Doerstelmann et al 2015;Vasey et al 2015); (Felbrich et al 2017;Bodea et al 2020;Kayser et al 2019). In particular carbon fiber reinforced polymers (CFRP) can reach impressive tensile strength, much higher than steel wires, while their densities are much lower (Liu et al 2015).…”

Section: Materials System: Lightweight Fiber Constructionmentioning

confidence: 99%

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Spatial winding: cooperative heterogeneous multi-robot system for fibrous structures

et al. 2020

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This research presents a cooperative heterogeneous multi-robot fabrication system for the spatial winding of filament materials. The system is based on the cooperation of a six-axis robotic arm and a customized 2 + 2 axis CNC gantry system. Heterogeneous multi-robot cooperation allows to deploy the strategy of Spatial Winding: a new method of sequential spatial fiber arrangement, based on directly interlocking filament-filament connections, achieved through wrapping one filament around another. This strategy allows to create lightweight non-regular fibrous space frame structures. The new material system was explored through physical models and digital simulations prior to deployment with the proposed robotic fabrication process. An adaptable frame setup was developed which allows the fabrication of a variety of geometries within the same frame. By introducing a multi-step curing process that integrates with the adaptable frame, the iterative production of continuous large-scale spatial frame structures is possible. This makes the structure’s scale agnostic of robotic reach and reduces the necessary formwork to the bare minimum. Through leveraging the capacities of two cooperating machines, the system allows to counteract some of their limitations. A flexible, dynamic and collaborative fabrication system is presented as a strategy to tailor the fiber in space and expand the design possibilities of lightweight fiber structures. The artifact of the proposed fabrication process is a direct expression of the material tectonics and the robotic fabrication system.

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Section: Materials System: Lightweight Fiber Constructionmentioning

confidence: 99%

“…The proposed hybrid system with the multi-step curing process allows to build long-span structures agnostic of the limited robot reach. However, the size of the structure is currently (Sarles et al 2006) or UV curing for glass fibers (Kayser et al 2019) could potentially be used to bypass those limitations.…”

Section: System Potentials and Limitationsmentioning

confidence: 99%

Spatial winding: cooperative heterogeneous multi-robot system for fibrous structures

et al. 2020

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“…Enquanto uns estão mais preocupados em desenvolver novos robôs (YABLONINA, 2018;KAYSER et al, 2018) outros têm se dedicado a desenvolver novas aplicações ou adaptações para robôs comerciais existentes (WOOD et al, 2018). Em todos os casos, tanto a fusão entre representação arquitetônica e construção são evidentes, como também outros personagens do paradigma Albertiano começam a sair de cena.…”

Section: Fonte: Icd Itechunclassified

“…Em todos os casos, tanto a fusão entre representação arquitetônica e construção são evidentes, como também outros personagens do paradigma Albertiano começam a sair de cena. O construtor pode ser um braço robótico (GRAMAZIO & KHOLER, 2014; MEN-GES, 2015) um drone (WOOD et al, 2018) ou um robô tecelão (YABLONINA, 2018;KAYSER et al, 2018). "O que estamos observando hoje é a digitalização abrangente da arquitetura, o que implica uma mudança radical de paradigma em suas condições de produção" (GRAMAZIO & KHOLER, 2014).…”

Section: Fonte: Icd Itechunclassified

Além da Tradição, da Representação e da Virtualidade

Natividade¹,

Rizzo²,

Delarue³

et al. 2018

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Desde o começo da arquitetura ocidental, fundada no classicismo grego, o arquiteto não fez edifícios, mas produziu representações do edifício que possibilitaram sua construção. Assim, a separação histórica entre o ato de pensar e o de construir arquitetura, batizada por Mario Carpo de paradigma Albertiano, estabeleceu as bases do que entendemos hoje como projeto – uma atividade informacional cujos processos passariam a ser definidos por uma gama específica de tecnologias culturais e de mídia disponíveis em cada momento histórico. Uma vez estabelecida a reciprocidade entre representação e construção, os desdobramentos desse paradigma se estendem para além das representações gráficas, intervindo também na maneira de conceituar e de produzir arquitetura. Com a virada digital a partir dos anos 1990 e mais intensamente na década de 2010, a fusão entre artefatos de representação – concepção – construção em modelos digitais impõe métodos inteiramente novos à disciplina e o Paradigma Albertiano começa a retroceder depois de cinco séculos de hegemonia. Esse artigo procura apresentar as linhas gerais de três aspectos dessa síntese digital contemporânea: o fim da compressão de dados dos desenhos bidimensionais em favor dos modelos de informação (data models); a ampliação da janela perspéctica para a visualização imersiva da realidade virtual; e, a construção just-in-time, direto dos computadores para os braços robóticos. Palavras-chave: representação, computação gráfica, fabricação digital, realidade virtual

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“…This new class of robots can navigate the environment taking inspiration from the plants' feature to continuously increase the mass by adding new cellular material at their growing extremities, i.e., at shoot and root apexes (Verbelen et al, 2006 ). From an artificial perspective, this movement strategy can be exploited by additive manufacturing techniques (Sadeghi et al, 2017 ; Kayser et al, 2019 ) or skin eversion (Tsukagoshi et al, 2011 ; Sadeghi et al, 2013 ; Hawkes et al, 2017 ). This way, the robot is able to orient itself without the need of moving its entire body but confining the movement at its tip, while dynamically creating the robot's body and adapting its morphology to the environmental conditions and physical constraints.…”

Section: Introductionmentioning

confidence: 99%

Characterization of the Growing From the Tip as Robot Locomotion Strategy

et al. 2019

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Growing robots are a new class of robots able to move in the environment exploiting a growing from the tip process (movement by growing). Thanks to this property, these robots are able to navigate 3D environments while negotiating confined spaces and large voids by adapting their body. During the exploration of the environment, the tip of the robot is able to move in any direction and can be kinematically considered as a non-holonomic mobile system. In this paper, we show the kinematics of robot growing at its tip level. We also present the affordable workspace analyzed by an evaluation of feasible trajectories toward target poses. The geometrical key parameters imposing constraints on growing robots' workspace are discussed, in view of facing different possible application scenarios. The proposed kinematics was applied to a plant-inspired growing robot moving in a 3D environment in simulation, obtaining ∼2 cm error after 1 m of displacement. With appropriate parametrization, the proposed kinematic model is able to describe the motion from the tip in robots able to grow.

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FIBERBOTS: Design and Digital Fabrication of Tubular Structures Using Robot Swarms

Cited by 19 publications

References 10 publications

Spatial winding: cooperative heterogeneous multi-robot system for fibrous structures

Spatial winding: cooperative heterogeneous multi-robot system for fibrous structures

Além da Tradição, da Representação e da Virtualidade

Characterization of the Growing From the Tip as Robot Locomotion Strategy

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