Robotic Assembly Of Modular Multi-Storey Timber-Only Frame Structures Using Traditional Wood Joinery

Matthias Helmreich Gramazio Kohler Research, ETH Zurich
Mayer Hannes Gramazio Kohler Research, ETH Zurich
Matteo Pacher Gramazio Kohler Research, ETH Zurich
Tadahiro Nakajima Shimizu Corporation
Mitsuhiro Kuroki Shimizu Corporation
Shinya Tsubata Shimizu Corporation
Fabio Gramazio Gramazio Kohler Research, ETH Zurich
Matthias Kohler Gramazio Kohler Research, ETH Zurich

This paper presents a novel approach to computationally designed and robotically assembled modular timber-only structures with traditional wood joinery methods. We geometrically adapt and parametrize five traditional joint typologies to compensate for robotic placement inaccuracies and comply with modern structural requirements. The force-locking capacity of the connections is utilised to support the robotic assembly of five unique timber frame modules of 5.5 by 2.2 by 2.5 metres, each with a unique timber lattice pattern. For each major joint typology we conduct a series of structural load-tests to evaluate the structural performance. We develop a custom software to enable architects and engineers to interactively design with those principles, taking into account both structural and production feasibility constraints. As a demonstration of our design approach, the five modules were robotically assembled using the described methods.

Keywords: Robotic Assembly; Wood Joints; Spatial Timber Structures; Timber-Only; Sdg 9; Sdg 11; Sdg 12.

View Full Paper