Interlocking Block Assembly With Robots
Interlocking Block Assembly With Robots
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DOI：
10.1109/tase.2021.3069742
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发表时间：
2021-07
影响因子：
5.6
通讯作者：
Yinan Zhang;Yotto Koga;Devin J. Balkcom
中科院分区：
文献类型：
--
作者：
Yinan Zhang;Yotto Koga;Devin J. Balkcom
本文提出了一种联锁块的设计和算法，允许这些块被组装成所需的形状。在组装期间和组装之后，如果少量块相对于其它块固定，则结构在运动学上互锁。有两种类型的块：立方体和双高的职位，每一个特定的一套男性和女性关节。涉及数千块的形状布局已被自动规划，数百块的形状已被手工构建。本文还描述了一种从块并行组装结构的方法。作为概念验证，双机器人系统被用来组装48块，形成一个互锁的立方体状结构。从业者注意-本文的灵感来自于现有的工作联锁jobsites结构，模块化机器人和建筑机器人。我们提出了两个联锁块，可以组装成更大的刚性结构的设计。这种类型的块是一种有前途的未来建筑材料。只需要平移就可以组装这些块，简化了机器人组装，而且无砂浆结构允许以后拆卸和重复使用这些块。我们提出了一种算法，将块布置成所需的形状，在系列和开发了一个双机器人系统，自动组装48块。我们的物理实验表明，关节制造精度是至关重要的施工方便性和成品结构的刚度。我们还提出了一种布局算法，使并行组装，允许多个机器人在同一结构上工作。
This article presents a design for interlocking blocks and an algorithm that allows these blocks to be assembled into desired shapes. During and after assembly, the structure is kinematically interlocked if a small number of blocks are immobilized relative to other blocks. There are two types of blocks: cubes and double-height posts, each with a particular set of male and female joints. Layouts for shapes involving thousands of blocks have been planned automatically, and shapes with several hundred blocks have been built by hand. This article also describes a method for assembling structures from blocks in parallel. As a proof of concept, a dual-robot system was used to assemble 48 blocks, forming an interlocking cube-like structure. Note to Practitioners—This article was inspired by existing work on interlocking joinery structures, modular robots, and construction robots. We present designs for two interlocking blocks that can be assembled into larger rigid structures. Blocks of this type are a promising future construction material. Only translation is needed to assemble the blocks, simplifying robotic assembly, and the mortarless construction allows for later disassembly and reuse of the blocks. We propose an algorithm that lays out blocks into desired shapes in series and developed a dual-robot system to assemble 48 blocks automatically. Our physical experiments show that joint manufacturing precision is critical to the ease of construction and the rigidity of the finished structure. We also present a layout algorithm that enables parallel assembly, allowing multiple robots to work on the same structure.