Integrated workflow for cooperative robotic fabrication of natural tree fork structures

Abstract

Natural wood, renowned for its low carbon emissions, renewability, and impressive durability, is gaining prominence in the construction industry as a sustainable solution. However, the irregularities in size and shape of natural wood pose challenges in precise measurement and fabrication. Although innovative methods have emerged for materials like curved logs and small-diameter wood, tree forks have not been extensively investigated due to their complex shapes. This research introduces cooperative robotic fabrication to address the challenges associated with tree fork construction. An integrated workflow has been established, encompassing material scanning, co-design of fabrication tools and joint systems, and cooperative robotic fabrication. The proposed workflow was evaluated in the construction of a tree fork-based tower structure. This study provides a technological solution for the sustainable utilization of natural tree forks and holds potential for extending into the construction of other non-standard materials with geometric complexity. • This research presents an integrated workflow for natural tree fork construction. • Fabrication tools and connecting system are developed collaboratively. • A dual-robot cooperative fabrication system is established. • The workflow is evaluated through the construction of a case-study structure.