The Sequential Roof

Apolinarska, Aleksandra Anna; Knauss, M.E.; Gramazio, Fabio; Köhler, Matthias

doi:10.4324/9781315678825-4

Cited by 23 publications

(8 citation statements)

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“…Robotic timber assembly with both linear sawn timber and wood panels has been extensively studied during the last 15 years (Willmann et al, 2016). The assembly process of timber structures has been automated through the development of robotic assembly tools such as grippers and automatic nail guns (Apolinarska et al, 2016). The assembly of the DFAB project explore dual-robot fabrication of timber frame structures (Graser et al, 2021).…”

Section: Robotic Timber Assemblymentioning

confidence: 99%

In-Situ Robotic Fabrication of Spatial Glulam Structures

Chai¹,

Guo²,

Wagner³

et al. 2022

CAADRIA Proceedings

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While current approaches in timber construction stress the advantages of off-site prefabrication, glued laminated timber(glulam) structures is limited to the constraints of standardized, prefabricated mostly linear elements, which also lends itself only to building typologies that offer an increased level of standardization and regularity. The design freedom of timber structures is incomparable to that of reinforced concrete structures, which mostly gains from the insitu fabrication process. An in-situ robotic timber fabrication platform allows the on-site construction of glulam structures with highly differentiated networks of beams composed of robotically assembled discrete linear elements. Based on the possibilities of such mobile robotic fabrication process, this paper explores novel architectural typologies of spatial glulam structures. The research is conducted from several aspects including joint tectonics, design method, and robotic fabrication process. A large-scale pavilion is designed and fabricated to verify the feasibility of the proposed system. This research could provide a novel mode of in-situ robotic timber fabrication and corresponding glulam structure system for timber construction.

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Section: Robotic Timber Assemblymentioning

confidence: 99%

In-Situ Robotic Fabrication of Spatial Glulam Structures

Chai¹,

Guo²,

Wagner³

et al. 2022

CAADRIA Proceedings

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“…In most prior work in robotic assembly, the construction of bar structures has also followed a layer-based approach, simplifying particularly the sequence planning and reachability challenge such that it can be intuitively solved [1]. Recent projects have demonstrated robotic assembly for more complex geometries [29,16], but motion planning has remained a key challenge, addressed by pre-defining the robot's path through a trial and error process.…”

Section: Related Workmentioning

confidence: 99%

Robotic additive construction of bar structures: Unified sequence and motion planning

Huang,

Garrett,

Ting

et al. 2021

Preprint

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Additive robotic construction of buildingscale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming complex robots, such as manipulators with seven degrees of freedom, to successfully complete construction tasks can be tedious, challenging, or impossible for a human to do manually. Namely, the structure must be constructed in a sequence that preserves structural properties, such as stiffness, at each step. At the same time, this sequence must allow for the robot to precisely manipulate elements within the in-progress structure while respecting geometric constraints that, for example, ensure the robot does not collide with what it has built. In this work, we present an automated and newly generalized planning approach for jointly finding a construction sequence and robot

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“…However, the increasing prominence of digital design and fabrication tools is eroding this limitation, with sophisticated workflows continuously emerging for handling of non-standard material inventories and design and assembly of mass-customised building products. Examples of complex freeform structures computationally assembled from short-length timber elements include the Bezier vault structure, with shape control achieved via element chamfer angles [3], and the Sequential Roof, with shape control achieved with variation of truss element lengths [4].…”

Section: Utility-grade Timber and Inventory-constrained Designmentioning

confidence: 99%

Inventory constrained design of a timber funicular structure

et al. 2020

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This research investigates the development of a digital form finding model that combines the generation of funicular geometry with a material inventory constraint. The model provides a flexible design tool that facilitates exploration of structural form whilst simultaneously satisfying two rationalizing criteria. It maintains an equilibrated structure derived from funicular geometry; and optimises the assignment of a unique inventory of timber members having natural dimensional variation. The combined goal for the design outcome is to achieve material efficiency through both structurally rational form and minimization of material waste. The material chosen for the inventory is utility-grade sawn timber, being lightweight but with high levels of naturally occurring structural variability. Sawn timber boards that are rejected for structural applications due to frequent structural defects (knots, checks, splits etc.) represent up to 50% of the sawn product produced by Australian sawmills, and are destined for under-valued non-structural use, chipping or burning. Yet these boards can readily yield usable short length structural members, once defects are removed. In doing so, the process creates a unique inventory of random short members. These short members are well suited to articulated structures, which, by employing an inverted funicular geometry, only incur axial stresses and can employ simple (non-moment resisting) timber connections. This form finding tool and a first prototype pavilion are proofs of concept for viable structural application of what is otherwise a significant source of waste in the timber industry.

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The Sequential Roof

Cited by 23 publications

References 0 publications

In-Situ Robotic Fabrication of Spatial Glulam Structures

In-Situ Robotic Fabrication of Spatial Glulam Structures

Robotic additive construction of bar structures: Unified sequence and motion planning

Inventory constrained design of a timber funicular structure

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