Abstract
This paper presents methods and techniques to robotically prefabricate timber frame modules. The key challenge of this research lies in enabling the digitally informed and fabricated spatial assembly of timber beams into prefabricated timber frame modules. The project combines the fabrication and the spatial assembly of timber beams into one fully integrated robotic fabrication process. A cooperative robotic construction procedure that minimises the need for scaffolding and allows for the informed assembly of spatial structures with non-planar geometries was developed. This required the examination of suitable timber joining methods, assembly sequencing, as well developing appropriate and novel strategies to register and handle material deviations and construction tolerances. The physical implementation of the research in multiple experiments and finally, a full-scale building project validates the approach.
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Notes
- 1.
These components each require an edge beam which, when fully assembled result in a double corner beam.
- 2.
The Building class is built on top of the “Network” class from “COMPAS”. For more information about the Network class please see: http://block.arch.ethz.ch/docs/compas/core/pages/core/compas.datastructures.network.html.
- 3.
The saw has a 650 mm blade and three axis of movement: 0°–360° of rotation, 90°–25° of pitch and −10 mm–230 mm of linear movement.
- 4.
A typical fabrication cycle requires accuracy at the following positions: initial pick-up, placement for the first cut, placement for the second cut, placement of the beam on the fixing station, milling approach, drilling approach, subsequent pick-up and final placement.
- 5.
14 kN was calculated to be the highest tension force for two pairs of double threaded SFS screws.
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Acknowledgements
This research project is a result of an interdisciplinary collaboration between a team from ETH Zurich and the industrial partner ERNE AG Holzbau. The authors thank the other involved team members including Augusto Gandia, Gonzalo Casas, Matteo Pacher, Moritz Späh, Dr. Thomas Kohlhammer, Dr. Volker Helm, Dr. Ammar Mirjan and Aleksandra Anna Apolinarska from Gramazio Kohler Research, Chair of Architecture and Digital Fabrication at ETH Zurich. They also thank Michael Lyrenmann, Philippe Fleischmann and Lukas Stadelmann from the Robotic Fabrication Laboratory, ETH Zurich. This research project is supported by the Institute of Technology in Architecture at ETH Zurich, NCCR Digital Fabrication, ERNE AG Holzbau and a Commission for Technology and Innovation CTI grant.
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Thoma, A., Adel, A., Helmreich, M., Wehrle, T., Gramazio, F., Kohler, M. (2019). Robotic Fabrication of Bespoke Timber Frame Modules. In: Willmann, J., Block, P., Hutter, M., Byrne, K., Schork, T. (eds) Robotic Fabrication in Architecture, Art and Design 2018. ROBARCH 2018. Springer, Cham. https://doi.org/10.1007/978-3-319-92294-2_34
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