Structural rigidity theory applied to the scaffold-free (dis)assembly of space frames using cooperative robotics
Structural rigidity theory applied to the scaffold-free (dis)assembly of space frames using cooperative robotics
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DOI：
10.1016/j.autcon.2022.104405
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发表时间：
2022-09
影响因子：
10.3
通讯作者：
E. Bruun;S. Adriaenssens;S. Parascho
中科院分区：
文献类型：
--
作者：
E. Bruun;S. Adriaenssens;S. Parascho
本文提出了一种基于制造的三角形空间框架结构设计方法，该方法在机器人组装和拆卸的所有阶段都保持稳定，而不需要外部脚手架。一个图论框架，基于刚性理论，开发允许的结构，其支持条件，和机器人支持约束的影响，同时表示在一个单一的拓扑框架。结构系统顺序设计与装配逻辑的基础上Henneberg图的建设步骤，这是执行与两个机器人通过合作的刚性保持序列。确保在这些建设步骤所得到的图形的平面性，导致内在的拆卸潜力系统内。提出了一种基于图的算法来定位、隔离和去除结构系统中形成的局部刚性四面体单元。然后利用该算法计算出一个保持刚度的机器人拆卸序列。设计方法证明在案例研究设计的木空间框架拱结构，是机器人（拆）组装。
This paper presents a fabrication-informed design method for triangulated space frame structures that remain stable during all phases of their robotic assembly and disassembly without requiring external scaffolding. A graph theoretic framework, based on rigidity theory, is developed to allow the structure, its support conditions, and the impact of robotic support constraints to be simultaneously represented in a single topological framework. The structural system is sequentially designed with an assembly logic based on Henneberg graph-construction steps, which are executed with two robots through a cooperative rigidity-preserving sequence. Ensuring planarity of the resulting graph during these construction steps is shown to lead to intrinsic disassembly potentials within the system. A graph-based algorithm is presented to locate, isolate and remove locally rigid tetrahedral cells formed in the structural system. This algorithm is then utilized to compute a rigidity-preserving robotic disassembly sequence. The design method is demonstrated in the case study design of a wooden space frame arch structure that is robotically (dis)assembled.