A System for Truss Manipulation with Relative Robots: Designing and Prototyping HookBot

Burak Delikanlı; Leman Figen Gül

doi:10.1007/978-3-031-37189-9_26

A System for Truss Manipulation with Relative Robots: Designing and Prototyping HookBot

Burak Delikanlı^*, Leman Figen Gül

^*Corresponding author for this work

Department of Architecture

Istanbul Technical University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents design details and proof-of-concept prototypes of a relative robot, so called ‘HookBot’, customized for autonomous discrete assembly of round-shape truss system elements. Initially, it examines robotic assembly systems for truss structures and highlights the similar and different features of these studies. The novel design characteristics of HookBot that differ from similar studies are the locomotion kinematics and the adhesion mechanism that improves the degree of freedom (DoF). Thus, two versions of prototype were developed, focusing on locomotion kinematics. The final version of the prototype has successfully executed the functions that enable translational, rotational, and helical locomotion on a truss strut. Besides, problems during prototyping, further improvements, successes, and failures were examined. Further, a system for truss manipulation with relative robots defines the place of HookBot within autonomous discrete assembly systems and coordinates with subsystems. Consequently, the paper discusses an autonomous system whose principal actor is relative robots and its potential contribution to future architectural services and construction systems. Also, the paper concludes that autonomous discrete assembly can be implemented with further prototypes and the examined design details.

Original language	English
Title of host publication	Computer-Aided Architectural Design. INTERCONNECTIONS
Subtitle of host publication	Co-computing Beyond Boundaries - 20th International Conference, CAAD Futures 2023, Selected Papers
Editors	Michela Turrin, Charalampos Andriotis, Azarakhsh Rafiee
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	393-409
Number of pages	17
ISBN (Print)	9783031371882
DOIs	https://doi.org/10.1007/978-3-031-37189-9_26
Publication status	Published - 2023
Event	20th International Conference on Computer-Aided Architectural Design Futures, CAAD Futures 2023 - Delft, Netherlands Duration: 5 Jul 2023 → 7 Jul 2023

Publication series

Name	Communications in Computer and Information Science
Volume	1819 CCIS
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	20th International Conference on Computer-Aided Architectural Design Futures, CAAD Futures 2023
Country/Territory	Netherlands
City	Delft
Period	5/07/23 → 7/07/23

Bibliographical note

Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

Keywords

Assembly Robots
Automation in Construction
Relative Robots
Robotics in Architecture
Truss Systems

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-031-37189-9_26

Cite this

Delikanlı, B., & Gül, L. F. (2023). A System for Truss Manipulation with Relative Robots: Designing and Prototyping HookBot. In M. Turrin, C. Andriotis, & A. Rafiee (Eds.), Computer-Aided Architectural Design. INTERCONNECTIONS: Co-computing Beyond Boundaries - 20th International Conference, CAAD Futures 2023, Selected Papers (pp. 393-409). (Communications in Computer and Information Science; Vol. 1819 CCIS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-37189-9_26

Delikanlı, Burak ; Gül, Leman Figen. / A System for Truss Manipulation with Relative Robots : Designing and Prototyping HookBot. Computer-Aided Architectural Design. INTERCONNECTIONS: Co-computing Beyond Boundaries - 20th International Conference, CAAD Futures 2023, Selected Papers. editor / Michela Turrin ; Charalampos Andriotis ; Azarakhsh Rafiee. Springer Science and Business Media Deutschland GmbH, 2023. pp. 393-409 (Communications in Computer and Information Science).

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abstract = "This paper presents design details and proof-of-concept prototypes of a relative robot, so called {\textquoteleft}HookBot{\textquoteright}, customized for autonomous discrete assembly of round-shape truss system elements. Initially, it examines robotic assembly systems for truss structures and highlights the similar and different features of these studies. The novel design characteristics of HookBot that differ from similar studies are the locomotion kinematics and the adhesion mechanism that improves the degree of freedom (DoF). Thus, two versions of prototype were developed, focusing on locomotion kinematics. The final version of the prototype has successfully executed the functions that enable translational, rotational, and helical locomotion on a truss strut. Besides, problems during prototyping, further improvements, successes, and failures were examined. Further, a system for truss manipulation with relative robots defines the place of HookBot within autonomous discrete assembly systems and coordinates with subsystems. Consequently, the paper discusses an autonomous system whose principal actor is relative robots and its potential contribution to future architectural services and construction systems. Also, the paper concludes that autonomous discrete assembly can be implemented with further prototypes and the examined design details.",

keywords = "Assembly Robots, Automation in Construction, Relative Robots, Robotics in Architecture, Truss Systems",

author = "Burak Delikanlı and G{\"u}l, {Leman Figen}",

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Delikanlı, B & Gül, LF 2023, A System for Truss Manipulation with Relative Robots: Designing and Prototyping HookBot. in M Turrin, C Andriotis & A Rafiee (eds), Computer-Aided Architectural Design. INTERCONNECTIONS: Co-computing Beyond Boundaries - 20th International Conference, CAAD Futures 2023, Selected Papers. Communications in Computer and Information Science, vol. 1819 CCIS, Springer Science and Business Media Deutschland GmbH, pp. 393-409, 20th International Conference on Computer-Aided Architectural Design Futures, CAAD Futures 2023, Delft, Netherlands, 5/07/23. https://doi.org/10.1007/978-3-031-37189-9_26

A System for Truss Manipulation with Relative Robots: Designing and Prototyping HookBot. / Delikanlı, Burak; Gül, Leman Figen.
Computer-Aided Architectural Design. INTERCONNECTIONS: Co-computing Beyond Boundaries - 20th International Conference, CAAD Futures 2023, Selected Papers. ed. / Michela Turrin; Charalampos Andriotis; Azarakhsh Rafiee. Springer Science and Business Media Deutschland GmbH, 2023. p. 393-409 (Communications in Computer and Information Science; Vol. 1819 CCIS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper presents design details and proof-of-concept prototypes of a relative robot, so called ‘HookBot’, customized for autonomous discrete assembly of round-shape truss system elements. Initially, it examines robotic assembly systems for truss structures and highlights the similar and different features of these studies. The novel design characteristics of HookBot that differ from similar studies are the locomotion kinematics and the adhesion mechanism that improves the degree of freedom (DoF). Thus, two versions of prototype were developed, focusing on locomotion kinematics. The final version of the prototype has successfully executed the functions that enable translational, rotational, and helical locomotion on a truss strut. Besides, problems during prototyping, further improvements, successes, and failures were examined. Further, a system for truss manipulation with relative robots defines the place of HookBot within autonomous discrete assembly systems and coordinates with subsystems. Consequently, the paper discusses an autonomous system whose principal actor is relative robots and its potential contribution to future architectural services and construction systems. Also, the paper concludes that autonomous discrete assembly can be implemented with further prototypes and the examined design details.

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Delikanlı B, Gül LF. A System for Truss Manipulation with Relative Robots: Designing and Prototyping HookBot. In Turrin M, Andriotis C, Rafiee A, editors, Computer-Aided Architectural Design. INTERCONNECTIONS: Co-computing Beyond Boundaries - 20th International Conference, CAAD Futures 2023, Selected Papers. Springer Science and Business Media Deutschland GmbH. 2023. p. 393-409. (Communications in Computer and Information Science). doi: 10.1007/978-3-031-37189-9_26

A System for Truss Manipulation with Relative Robots: Designing and Prototyping HookBot

Abstract

Publication series

Conference

Bibliographical note

Keywords

UN SDGs

Access to Document

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Cite this