Robotics in architecture

Diamond wall

Diamond wall is project designed for the 15^th aniversary of Austrotherm in Serbia and fabricated in foam with industrial robot. Diamond wall consists of 40 piramidal shaped EPS blocks arranged with parametric controlled radial pattern based on distribution of points (voronoi cells). One of the major challenges were size fitting of blocks to the working area of ABB IRB 140 robot and its custom design hotwire cutter tool.

Credits: Marko Jovanović, Dejan Mitov, Jovica Tasevski, Mirko Raković, Bojan Tepavčević, Vesna Stojaković, Ivana Bajšanski

Bricklaying freeform wall

In this research, unitized predetermined size MDF bricks, are laid by a robotic arm to form a wall shape. Software used for geometry generation and parametric manipulation is Rhinoceros, in conjunction with its plug-in, Grasshopper. Software used for generating instructions for robot arm to follow is RobotStudio, with its programming language RAPID. Custom Grasshopper add-on is written in C# programming language, mediating between an architectural design program and robotic arm manipulation program. It enables automaticaly generation of RAPID code in accordance to the Grasshopper generated geometries of walls.

Credits: Dr Bojan Tepavčević, Marko Jovanović, Digital Design Center, FTN, University of Novi Sad

Collaboratorion: Dr Mirko Raković, Chair of Mechatronics, Robotics and Automation, FTN, University of Novi Sad

PUZZLE – freeform foam wall

In this project a novel methodology is proposed for digital workflow and fabrication of freeform shell structures made from foam materials utilizing robot hot-wire cutting tool. Methodology for design and fabrication of freeform foam structures may be utilized for fabrication of structural insulated panels for double-curved walls as well as for concrete cast molds.

More information about scientific research can be found in the article Robotic fabrication of freeform foam structures with quadrilateral and puzzle shaped panels.

Credits: Bojan Tepavčević, Marko Jovanović, Vesna Stojakovic, Digital Design Center, FTN, University of Novi Sad, Mirko Raković, Branislav Borovac, Chair of Mechatronics, Robotics and Automation, FTN, University of Novi Sad

Design and Fabrication with Industrial Robot as Brick-laying tool and with Custom Script Utilization

Raković M., Jovanović M., Borovac B., Tepavčević B., Nikolić M., Papović M., IEEE International Conference on Robotics in Alpe-Adria-Danube Region, September 3-5, 2014. Smolenice, Slovakia

Abstract: This paper presents methodology and implementation of parametric architectural design of brick-laying walls fabricated by industrial robotic arm. As a design tool Grasshopper is used, a visual programming editor that runs within the Rhinoceros 3D CAD application. Grasshopper offers a range of objects for creating parametric models including brick-laying walls. However it lacks the ability of integration with fabrication tools. To overcome this problem, a custom C# script has been developed. As the fabrication tool, the ABB-IRB 140 robotic arm is used. Thus the C# script is written in such a way to obtain the RAPID code for controlling ABB industrial robots. The C# script enabled automated generation of RAPID code in accordance to the Grasshopper generated geometries of walls. The RAPID code is firstly tested in simulation environment, afterwards is used to control the robot to fabricate various types of walls.

Online version of article:

Design and Fabrication with Industrial Robot as Brick-laying tool and with Custom Script Utilization

DIGITAL DESIGN CENTER