Material and Machine Computation of Designed Granular Matter: Rigid-Body Dynamics Simulations as a Design Tool for Robotically-Poured Aggregate Structures Consisting of Polygonal Concave Particles

摘要

Loose granulates are a relevant yet rarely deployed architectural material system. Their significance lies in their capacity to combine fluid-like amorphousness with solid-like rigidity, resulting in potential architectural structures capable of continuous reconfi guration. In addition aggregates allow for functional grading. Especially if custom designed concave particles are used, full-scale architectural structures can be poured using a six-axis industrial robot, combining the precise travel of the emitter-head with the self-organizational capacity of granular substances. In this context, the paper proposes Rigid-Body Dynamics (RBD) simulations as a design-tool for the robotic pouring of loose granular structures. The notions of material and machine computation are introduced and RBD is explained in greater detail. A set of small tests is conducted to investigate the advantages and disadvantages of a specifi c RBD software. Conclusively, further areas of research are outlined.