RI: SMALL: Collaborative Research: Computational Joinery

RI：小：协作研究：计算细木工

• 批准号: 1813043
• 负责人: Devin Balkcom
• 金额: $ 16.49万
• 依托单位: Dartmouth College
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-09-01 至 2021-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1813043&HistoricalAwards=false
• 关键词: RI; SMALL; Collaborative; Research; Computational

The objective of the project is to develop the theory, techniques, and mechanical designs needed for robots to rapidly build large, rigid structures from blocks that geometrically interlock, without the need for fasteners, cement, or glue. The work is motivated by the desire to quickly assemble structurally strong buildings, furniture, and devices, in such a way that the structure may later be disassembled and the parts re-used. Fabricating in parts presents many advantages: for instance, individual components may be fabricated efficiently, packed for storage and transport, repaired or replaced as needed, and design changes can be made readily in response to changing customer needs. Design of smooth surface finishes allows applications such as modular furniture and packaging of delicate parts for shipping, and embedding mechanical or electrical components will allow rapid construction of robots and other devices.The problem to be studied is how structures may be designed to rigidly interlock, using cycles of geometric constraints imposed by blocks to reinforce, support, and immobilize other blocks. Goals for the project include: 1) the design of joint geometries that allow a connection process that is robust to assembly and fabrication errors; 2) mechanical block designs that allow incremental construction of interlocked structures; and 3) layout algorithms that tailor assembly sequences to allow construction of desired shapes. Methods and approaches include mechanical design, development of layout algorithms, and analysis of assembly processes to ensure structural stability during construction. Experimental work includes robot assembly to validate the approach for complex structures involving hundreds of blocks.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目的目标是开发机器人所需的理论、技术和机械设计，以便从几何联锁的块体中快速构建大型刚性结构，而不需要紧固件、水泥或胶水。这项工作的动机是希望快速组装结构坚固的建筑物，家具和设备，以这种方式，结构可以在以后拆卸，部件可以重新使用。部件装配有许多优点：例如，单个部件可以有效地装配，包装以便于储存和运输，根据需要进行维修或更换，并且可以根据客户需求的变化随时进行设计更改。光滑表面的设计可以应用于模块化家具和运输用精密部件的包装，嵌入机械或电气部件可以快速建造机器人和其他设备。要研究的问题是如何设计结构，使其刚性互锁，利用块体施加的几何约束循环来加强，支撑和固定其他块体。该项目的目标包括：1）允许对组装和制造误差稳健的连接过程的接头几何形状的设计; 2）允许互锁结构的增量构造的机械块设计;以及3）定制组装序列以允许构造所需形状的布局算法。方法和途径包括机械设计、布局算法的开发和装配过程的分析，以确保施工期间的结构稳定性。实验工作包括机器人组装，以验证涉及数百块复杂结构的方法。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

PuzzleFlex: kinematic motion of chains with loose joints

PuzzleFlex：具有松动接头的链条的运动学

• DOI: 10.1109/icra40945.2020.9196854
• 发表时间: 2020
• 期刊: International Conference on Robotics and Automation
• 作者: Lensgraf, Samuel;Itani, Karim;Zhang, Yinan;Sun, Zezhou;Wu, Yijia;Li, Alberto Quattrini;Zhu, Bo;Whiting, Emily;Wang, Weifu;Balkcom, Devin
• 通讯作者: Balkcom, Devin

Droplet: Towards Autonomous Underwater Assembly of Modular Structures

Droplet：迈向模块化结构的自主水下组装

• DOI: 10.15607/rss.2021.xvii.054
• 发表时间: 2021
• 期刊: Proceedings of Robotics: Science and Systems
• 作者: Lensgraf, Samuel;Sniffen, Amy;Zitzewitz, Zachary;Honnold, Evan;Jain, Jennifer;Wang, Weifu;Li, Alberto;Balkcom, Devin
• 通讯作者: Balkcom, Devin

Interlocking Block Assembly

• DOI: 10.1007/978-3-030-44051-0_41
• 发表时间: 2018-12
• 作者: Yinan Zhang;Devin J. Balkcom

Interlocking Block Assembly With Robots

• DOI: 10.1109/tase.2021.3069742
• 发表时间: 2021-07
• 期刊: IEEE Transactions on Automation Science and Engineering
• 影响因子: 5.6
• 作者: Yinan Zhang;Yotto Koga;Devin J. Balkcom

Falling Into Place: Drop Assembly of Interlocking Puzzles

• DOI: 10.15607/rss.2021.xvii.055
• 发表时间: 2021-07
• 期刊: Robotics: Science and Systems XVII
• 作者: A. Sniffen;Zezhou Sun;Samuel Lensgraf;E. Whiting;Alberto Quattrini Li;Devin J. Balkcom