Additive robotic assembly techniques for timber construction – Computational design and integrated structural joining methods

计算设计方法，如拓扑优化，可以创建一个理想的材料分布。这通常会导致高度不规则的结构，可以制造，例如使用3d打印，通过直接在几何位置和质量上应用材料，而无需额外的劳动力和成本。在木结构中，类似的方法可以通过使用工业机器人来进行，工业机器人可以在完整的数字工作流程中组装大块的材料。这种增材制造方法和几何不规则性为木结构创造了全新的空间、结构和连接挑战。因此，我们希望研究新的连接技术，这些技术与机器人制造相结合，并开发计算设计技术，以实现材料的高效几何和定性分布。我们计划在表面元素上展示这项技术，因为在建筑中，大多数材料通常用于地板和墙壁元素，它们经常需要在可变条件下支撑。我们想要研究一种新的连接系统，该系统经过优化/适应机器人装配，并且由于几何形状拟合而提高了连接效率。我们还将结合多种材料优化（不同木材等级和材料（软木、山毛榉））研究优化方法（例如形状、尺寸和拓扑优化）。我们的目标是将制造逻辑（例如连接角度，木材元素的最小和最大尺寸）整合到优化过程中。我们想要回答以下研究问题：什么是机器人装配技术的有效几何形状？什么是结构形式高效几何？自动化制造和结构效率的重叠几何特性是什么？关于开发关节：在结构性能、几何特性和可能的运动学运动方面，开发关节的约束/限制和结构行为是什么？我们如何将所开发的关节的特性参数化，使其能够用于设计和工程工具？如何将最先进的优化方法（例如形状、尺寸和拓扑优化）用于使用已开发的材料系统制造的表面木材元件的结构优化？哪些方法适合？如何将已开发材料系统的约束条件集成到最先进的优化方法中？大型试验将使我们能够验证大型结构中节点的设计方法和性能。我们将利用结构实验来验证我们开发的模型（包括关节特性和制造组件的整体结构行为）。

Computational design methods, such as Topology Optimisation, can create an ideal material distribution. This usually results in highly irregular structures that can be fabricated, for example using 3d printing, through directly applying material at the geometric position and quality as needed without extra labor and costs. In timber construction, a similar approach can be conducted through using industrial robots, which can assemble larger chunks of material in a complete digital workflow. This additive fabrication approach and the geometric irregularity create entirely new spatial, structural and joining challenges for timber construction. We therefore want to investigate novel joining techniques, which are integrated with robotic fabrication and develop computational design techniques that allow a highly efficient geometric and qualitative distribution of material. We are planning to demonstrate this technology on surfacic elements, since in architecture generally most of the material is used in floor and wall elements and they often need to be supported on variable conditions. We want to investigate a novel connection system that is optimized / adapted for robotic assembly and that has an increased efficiency at the connection due to geometrical form-fitting. We will also investigate optimization approaches (e.g. shape, size and topology optimization) in combination with multi material optimization (different timber grades and materials (softwood, beech). Our aim is to integrate fabrication logic (e.g. connection angles, minimum and maximum dimensions of timber elements) to the optimization process. We want to answer the following research questions:What are form efficient geometries for robotic assembly techniques?What are structural form efficient geometries?What are the overlapping geometric properties for automated fabrication and structural efficiency?Regarding the developed joint:What are the constraints / limitations and the structural behaviour of the developed joint in terms of structural performance, geometric properties and possible kinematic movements.How can we parametrize the properties of the developed joint so it can be used for design and engineering tools? How can state-of-the-art optimization approaches (e.g. shape, size and topology optimization) be used for structural optimization of surfacic timber elements fabricated with the developed material system? Which methods are suitable?How can the constraints of the developed material system be integrated in state-of-the-art optimization methods?Large-scale tests will enable us to verify the design method and the behavior of the joint in a large structure. We will utilize structural experiments to verify our developed models (both joint properties and overall structural behavior of the fabricated components).