Automated assembly of reciprocal frame structures using robotics

In this paper, the robotization of structural construction was studied in preference to the undemanding assembly of the reciprocal frame (RF) structures. Formulas were developed to automate the process of geometric forming and component evaluation. Subsequently, the robotic cooperative system was established to assemble the structure according to the positions and orientations of each component from the geometric forming module. The robotic system consists of two robotic arms, two navigating robots, depth cameras, and customized grippers. The structure was made from pultruded glass fibre reinforced polymer (GFRP) members owing to their lightweight, high strength and corrosion resistance. Concepts of temporary connections were also proposed to eliminate the offset generated during the construction. Finally, the comparative studies of the constructions in different light environments and with different ground obstacles were investigated through experimental investigations. The results showed that the structure can be successfully assembled with the proposed robotic system and the assistance of the temporary connection in most of the light conditions and ground obstacles.