Design and Prototyping of a Single Axis, Building Material Integrated, Distributed Robotic Assembly System

Abstract

The creation of a new generation of small, modular, simplified robots for the assembly of custom-built structures is highly relevant in the fields of architectural design and construction. The aim of the research is to present a new feasible robotic system that could be implemented for the assembly of strut structures. The research showcases the development of bespoke single axis, double gripper robots that as a distributed robotic system assembles structures from standardized timber struts. We present a control scheme for collective assembly, only enabled by the collaboration of multiple robots and timber struts, shifting away from prefabrication towards autonomous, robotic, on-site construction in architectural scale.