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

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Özet

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.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıComputer-Aided Architectural Design. INTERCONNECTIONS
Ana bilgisayar yayını alt yazısıCo-computing Beyond Boundaries - 20th International Conference, CAAD Futures 2023, Selected Papers
EditörlerMichela Turrin, Charalampos Andriotis, Azarakhsh Rafiee
YayınlayanSpringer Science and Business Media Deutschland GmbH
Sayfalar393-409
Sayfa sayısı17
ISBN (Basılı)9783031371882
DOI'lar
Yayın durumuYayınlandı - 2023
Etkinlik20th International Conference on Computer-Aided Architectural Design Futures, CAAD Futures 2023 - Delft, Netherlands
Süre: 5 Tem 20237 Tem 2023

Yayın serisi

AdıCommunications in Computer and Information Science
Hacim1819 CCIS
ISSN (Basılı)1865-0929
ISSN (Elektronik)1865-0937

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???event.eventtypes.event.conference???20th International Conference on Computer-Aided Architectural Design Futures, CAAD Futures 2023
Ülke/BölgeNetherlands
ŞehirDelft
Periyot5/07/237/07/23

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

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