The Role of Parametric Design in the Robotic Assembly of Dry-Constructed Shell Structures

Architecture is going through major changes as automation in construction is radically transforming standard processing technologies and could lead, in the long-term, to disruptive technologies such as 3D-printing and robotics being applied to improve construction processes. This paper describes the adoption of a parametric approach in the design, fabrication, and assembly of dry-constructed, lightweight, wooden shell structures. The design of the structure in a parametric environment simplifies the process of running multiple kinematic simulations of the construction sequence. These simulations are used to determine the feasibility of each simulated sequence and detect collisions and errors in the robotic arm path. The instructions from the simulation stage are passed through a series of steps to a single collaborative robotic arm that assembles the structure with minimum human intervention. The simulated tests are carried out using a single KUKA lbr iiwa R800 robotic arm equipped with a 2-finger parallel jaw gripper. The complexity of the design requires a multi-disciplinary effort in the development of suitable systems. This research aims to show the potential that robotics and 3D printing could offer in terms of enabling the adoption of more complex and efficient free-form shell structures with decreased need for formwork and temporary supports.