Relative Robots: Scaling Automated Assembly of Discrete Cellular Lattices

Carney, Matthew E.; Jenett, Benjamin

doi:10.1115/msec2016-8837

Cited by 14 publications

(4 citation statements)

References 12 publications

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“…toy building bricks), a number of research efforts related to our work stand out. Gershenfeld's group at MIT has produced works related to fabricating efficient lattice structures utilizing identical material base units, including "cuboct" lattices of octahedra from 'x'-shaped planar units assembled at vertices by externally-placed clips (37), lattice cell utilizing planar triangular units (38), which are also designed with robotic assembly in mind (39), and voxels with tunable mechanical properties (40), which can be selectively incorporated into the inner components of large-scale underwater robotic structures (41).…”

Section: Related Workmentioning

confidence: 99%

The CLaP System: Chain-based Lattice Printing for Efficient Robotically-Assembled Structures

Xu,

Dollar

2023

Preprint

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Due to the nature of their implementation, nearly all low-level fabrication processes produce solidly filled structures. However, lattice structures are significantly stronger for the same amount of material, resulting in structures that are much lighter and more materially efficient. In this paper we propose an approach for fabricating lattice structures that echoes commercially successful additive manufacturing/3D printing techniques. In it, a modular chain of specially designed links is “extruded” onto a substrate to produce various lattice configurations depending on the chosen assembly algorithm, ranging from one of the strongest known rigid lattices, the octet-truss, to significantly less dense configurations. Like 3D printing, the process allows material to be compactly stored before being deployed into structures of nearly arbitrary geometry, but unlike it, the approach allows for the use of nearly any material or combination of materials. We demonstrate the concept experimentally with a nearly 300-link chain that is fed from a spool and autonomously laid down onto programmed lattice arrangements via a robotic arm modified for the task. In the current prototype implementation, ~300-link structures are fabricated in 27 minutes, and a 3x3x2 lattice structure (287 total links) is shown to support approximately 1000N in compression testing.

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Section: Related Workmentioning

confidence: 99%

The CLaP System: Chain-based Lattice Printing for Efficient Robotically-Assembled Structures

Xu,

Dollar

2023

Preprint

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“…Climbing robots, specialized mobile robots, are robotic systems used to move over walls, ceilings, roofs, and geometric structures and perform various tasks (Chu et al, 2010). Besides, relative robots, which are climbing robots with different classes according to locomotion and adhesion mechanisms, can locomote on the structure they assemble (Carney & Jenett, 2016). There are many experimental studies on the construction, assembly, and reconfiguration of structures with different materials by these robots, which emphasize building material design and robotic concepts (Nigl et al, 2013;Petersen et al, 2019).…”

Section: The Hookbot Rramentioning

confidence: 99%

Towards to the Hyperautomation - An integrated framework for Construction 4.0: a case of Hookbot as a distributed reconfigurable robotic assembly system

Delikanlı¹,

Gül²

2022

eCAADe Proceedings

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Almost every technological and industrial concept changes the built environment around us and our understanding of the architectural practice. Recently, Hyperautomation, an all-encompassing digital transformation with the help of advanced techniques, has been presented as a game-changing concept that can affect any industry. Despite this promising concept, the Architecture, Engineering, and Construction (AEC) industry seems far behind the latest technological breakthroughs and automation of processes compared to other industries. Therefore, this study provides a better understanding of adopting the novel Hyperautomation paradigm in the AEC industry by focusing on Industry 4.0. In this context, the first section introduces the Construction 4.0 concept, its counterpart in the AEC industry, briefly mentions fundamental approaches and indicates the need for a framework. The second section introduces an integrated framework throughout the entire building life-cycle for design and construction processes and exemplifies the stages in an autonomous system and their interrelationships. The third section presents a hypothetical case, a distributed reconfigurable robotic assembly system, and the assembler 'HookBot' to understand the relationships in an autonomous system better. The last section discusses the place of the Hyperautomation paradigm in architecture.

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“…Implementation of parallelization, build in feed systems, and optimizations will be needed. Error correction will also needed to be accounted for because as build scale become larger, the errors will also increase [13].…”

Section: Extrapolationmentioning

confidence: 99%

Robotically assembled aerospace structures: Digital material assembly using a gantry-type assembler

Trinh

Copplestone

O'Connor

et al. 2017

2017 IEEE Aerospace Conference

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This paper evaluates the development of automated assembly techniques for discrete lattice structures using a multiaxis gantry type CNC machine. These lattices are made of discrete components called "digital materials." We present the development of a specialized end effector that works in conjunction with the CNC machine to assemble these lattices. With this configuration we are able to place voxels at a rate of 1.5 per minute.The scalability of digital material structures due to the incremental modular assembly is one of its key traits and an important metric of interest. We investigate the build times of a 5x5 beam structure on the scale of 1 meter (325 parts), 10 meters (3,250 parts), and 30 meters (9,750 parts). Utilizing the current configuration with a single end effector, performing serial assembly with a globally fixed feed station at the edge of the build volume, the build time increases according to a scaling law of n 4 , where n is the build scale. Build times can be reduced significantly by integrating feed systems into the gantry itself, resulting in a scaling law of n 3 . A completely serial assembly process will encounter time limitations as build scale increases.Automated assembly for digital materials can assemble high performance structures from discrete parts, and techniques such as built in feed systems, parallelization, and optimization of the fastening process will yield much higher throughput.

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Relative Robots: Scaling Automated Assembly of Discrete Cellular Lattices

Cited by 14 publications

References 12 publications

The CLaP System: Chain-based Lattice Printing for Efficient Robotically-Assembled Structures

The CLaP System: Chain-based Lattice Printing for Efficient Robotically-Assembled Structures

Towards to the Hyperautomation - An integrated framework for Construction 4.0: a case of Hookbot as a distributed reconfigurable robotic assembly system

Robotically assembled aerospace structures: Digital material assembly using a gantry-type assembler

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