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

拓扑优化等计算设计方法可以创建理想的材料分布。这通常导致高度不规则的结构，其可以例如使用3d打印，通过在几何位置直接施加材料和根据需要的质量来制造，而无需额外的劳动力和成本。在木材建筑中，可以通过使用工业机器人进行类似的方法，这些机器人可以在完整的数字工作流程中组装更大块的材料。这种增材制造方法和几何不规则性为木结构建筑带来了全新的空间、结构和连接挑战。因此，我们希望研究新的连接技术，它与机器人制造集成，并开发计算设计技术，允许高效的几何和定性分布的材料。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，并且它们通常需要在各种条件下进行支撑。我们希望研究一种新型的连接系统，该系统针对机器人装配进行了优化/调整，并且由于几何形状配合而在连接处具有更高的效率。我们还将研究优化方法（例如形状，尺寸和拓扑优化）与多材料优化（不同的木材等级和材料（软木，山毛榉））相结合。我们的目标是将制造逻辑（例如连接角度、木构件的最小和最大尺寸）整合到优化过程中。我们想回答以下研究问题：什么是形式有效的几何机器人装配技术？什么是结构形式有效的几何形状？自动化制造和结构效率的重叠几何特性是什么？关于开发的节点：在结构性能、几何特性和可能的运动学运动方面，开发的节点的约束/限制和结构行为是什么？我们如何将开发的节点的特性参数化，以便将其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）用于使用开发的材料系统制造的表面木构件的结构优化？哪些方法是合适的？如何将开发的材料系统的约束条件整合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（接头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).