Sequential Modular Assembly - Robotic Assembly of Cantilevering Structures through Differentiated Load Modules

Abstract

The principles of computation, robotics, and modular building elements offer excellent opportunities for automation in architecture. A building system that incorporates these principles could cope with detachable building elements, sequential assembly processes, and algorithmic adaptability. In this paper, we investigate the strategic distribution of weight through a set of modules with different weights to build cantilevering structures. The modules are designed to have self-calibrating qualities, to allow a precisely defined positioning and thus be suitable for a robotic assembly. We implement an algorithm that automatically calculates the position and amount of weight modules. The exact placements are translated into robot instructions. By removing or adding a single module, we stimulate the collapse of the assembled structures, highlighting the precise measures of our approach. This approach may find application in scenarios where it is necessary to build without temporary support while still having a stable construction through each assembly step. Finally, we illustrate a framework to build structures that can easily be disassembled, thus allowing the reuse of the building elements.