Designing for Robotic (Dis-)Assembly

Abstract

Geometrically interlocking building elements offer unique opportunities for the construction industry to minimize waste, maximize reuse, and reduce its carbon footprint. Dry-joint elements allow for fast robotic assembly, disassembly, and reassembly of complex structures out of prefabricated modules. The article discusses the robotic assembly of SL blocks, which are modules that interlock with each other. The assembly process is challenging due to the intricate assembly sequences, design hierarchies, numerous potential grasping points, contact-rich assemblies, and instability until the assembly is completed. To implement the robotic assembly of self-interlocking structures, advances in several research scopes are necessary, including geometry, algorithms, and implementation. The study aimed to co-evolve SL block geometry and robotic grippers using a robot-oriented design approach to compensate for tolerances and add self-centering features. The article also presents an assembly environment
\nthat includes mechanical fixation cubes to secure the SL blocks during assembly and support cantilevered sections of the structure until the aggregation is stable. The article
\npresents algorithms for robotic task and motion planning and the generation of assembly sequences inspired by recursive algorithms to design 3D interlocking puzzles and directional blocking graphs. The study highlights how the voxel-based representation of complex geometries can be used to prepare directional blocking graphs. The research provides insights into improving the element’s geometry and robotic assembly, which
\ncould have significant applications in other studies.