Design of modular re-configurable robotic system for construction and digital fabrication

Abstract

This paper presents the design of an innovative robotic system for building constructions. The proposed robotic system has a modular structure and reconfigurability so that it can adapt to different construction requirements. The robotic system developed in this paper is applied in residential low-rise buildings (ground floor plus three floors and attic). The reconfigurable system presented in this paper implies the possibility of applying three different types of robots: the parallel SCARA, construction Delta robots and redundant, hyper articular robot for infrastructure inspection. The modular structure ensures rapid assembly and disassembly, functionality of the system even in the event of failure of one component of the module The robotic system design is conceived on the model of 3D printers with the possibility of easy replacement of various end effectors to manipulate the material in construction, assembly installation and final processing of the facade and walls. In the conclusion section of the paper a brief comparative analysis of conventional ways of constructing and discussion about the innovative approach of using robots in highly automated processes of building construction will be given.