Structural rigidity theory applied to the scaffold-free (dis)assembly of space frames using cooperative robotics

被引：12
作者：
Bruun E.P.G. [2 ]
Adriaenssens S. [2 ]
Parascho S. [1 ]
机构：
[1] School of Architecture, Civil and Environmental Engineering, EPFL, Lausanne
[2] Civil and Environmental Engineering Department, Princeton University, Princeton, NJ
来源：
Automation in Construction | 2022年 / 141卷
基金：
加拿大自然科学与工程研究理事会; 美国国家科学基金会;
关键词：
assembly; disassembly; fabrication; robot; scaffold-free; space frame; topology;
D O I：
10.1016/j.autcon.2022.104405
中图分类号：
学科分类号：
摘要：
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. © 2022
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