Falling Into Place: Drop Assembly of Interlocking Puzzles
Falling Into Place: Drop Assembly of Interlocking Puzzles
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DOI：
10.15607/rss.2021.xvii.055
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发表时间：
2021-07
期刊：
影响因子：
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通讯作者：
A. Sniffen;Zezhou Sun;Samuel Lensgraf;E. Whiting;Alberto Quattrini Li;Devin J. Balkcom
中科院分区：
文献类型：
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作者：
A. Sniffen;Zezhou Sun;Samuel Lensgraf;E. Whiting;Alberto Quattrini Li;Devin J. Balkcom
- 本文探讨了一种通过将块组件放置到位来组装结构的系统。在组装过程中和组装完成后，这些砌块通过几何互锁固定在一起，因此只需要将最后一个砌块与相邻的一个砌块结合在一起。跌落装配是一种很有前途的游泳或游泳机器人装配策略，因为它可以允许在不需要与现有结构紧密接触的情况下建造结构。本文探讨了联锁的数学模型，并提出了一种特殊的块设计，允许联锁实现只使用重力。使用低成本和相对低精度的机器人手臂的系统的概念验证演示。论文最后分析了该方法的一些潜在限制，特别是包括由于制造公差限制而导致的结构变形。
—This paper explores a system for assembling structures by dropping block components into place. During and after assembly, the blocks are held together by geometric interlock, so that fasteners or mortar are only needed to bind the final block to one of its neighbors. Drop assembly is a promising strategy for assembly by swimming or flying robots, as it may allow structures to be built without requiring close contact with the existing structure. The current paper explores a mathematical model of interlock, and presents a particular block design that allows interlock to be achieved using only gravity. Proof-of-concept demonstrations of the system are presented using a low-cost and relatively low-precision robot arm. The paper finally analyses some of the potential limitations of the approach, particularly including flexing of the structure due to manufacturing tolerance limitations.