gramaziokohler/itj_design_study

Repository for physical and digital design studies involving integral timber joints.

itj_design_study

Digital (and occasionally physical) design studies involving integrated timber joints (itj) using the clamp assembly strategy developed in the PhD project Robotic Assembled Timber Structures with Integral Timber Joints.

Repo folder structure and index

Architectural design files (Rhino 3D files) are organized in folders related to a specific topic of investigation. The folder naming convention is /yymmdd_study_name . The following list provides an index of the studies:

(Assembly Study) 191101_manual_assembly_two_walls

A design to demonstrate the complexity of assembling two intersecting walls that shares a common element.

Physical Prototype	Digital Model	AssemSim	StructuralSim	Evaluation
Manual Joint Cutting Manual Assembly (2ppl)	Modeled (Rhino)	None	None	Discussion

(Joint Detail) 191200_joint_guidance_strategy

Design study of joint details that can assist alignment. Different joint details (e.g. mating-face tapering, edge chamfering) are modeled.

Physical Prototype	Digital Model	AssemSim	StructuralSim	Evaluation
3D Printed Prototype Manual Joint Cutting	Modeled (Rhino)	None	None	None

Credits

This repository was created by Pok Yin Victor Leung [email protected] @yck011522 at @gramaziokohler

itj_design_study's Issues

Final TAMP of Hypar Hut

Update Env Collision Mesh after probing RFL with iGPS

Remodel scaffolding element in Cantibox Models

Robot Clamp Controller - Sync Move

• Add function to stop other clamps if one stopped
• Send feedback to robot ?

Change temp support hole boolean cylinder to 14mm x 25

Path Planning

• Create Path planning script for planning Pick and place movement
• Mechanism for saving, simulating and executing the paths.

Planning between different key positions, include free-space and linear planning.

• Implementation in GH ?
• Plan with Robot 12
• Plan with RFL obstacles / Tokyo obstacles / Platform / Floor.

Remodel Hyparhut floor joist dovetail joint

CantiboxLeft 2 Screwed Pieces have modeling error at pickup position

Taught Config for tools for CantiBox

Process Design and Final Check before Wood Order

• Check Gripper Pin location
• Check Pin Gripper Pin Angle
• Check Grasp Pose
• Check element size
• Check Ground connection metal detail
• Check Floor and floor joist joints and thickness

Update Env Collision Model for CantiBox

Manual Modification of timber components - Chamfer, Label, Drill, Sorting

Buy 4x air hose adapters from Hasler

Convert CantiBox Floor Joist Joint to an End-Type

Will probably need to use the 2mm trick to model the End Type so cadwork recognize the end being uncut.

Build photographic screen in RFL

Create your first design study.

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Update tool storage and pickup configuration after teaching RFL robot

Model aluminium profiles for support according to profiles we have

RFL Build Platform

• Construct Platform in RFL
• Make sure platform is aligned to X Direction of RFL iGPS
• Make sure platform spacing is 700 center to center.
• Probe attachment location of the platform using iGPS

Test if long beams in CantiBox causes overload

Check Ordered Timber

• Check timber dimensions
• Construct a portion of the structure on floor
• Tape Measure the constructed portion dimensions

Fix modeling error where Canti (L+R) floor joist collided with clamp attachment location.

Copy CantiRight modeling to other two files

Replan b15 that has a difficult reorient

b15 has a difficult reorient move.
However, in practice, we cannot lift the beam with the robot and reorient it due to robot payload. Therefore it is possible to skip the reorientation move (operator will attach the tool in top grasp position) and the subsequent free move (operator will jog the robot near the start state of the next move)

The reorient move A183_M2 and subsequent free move A186_M0 will not be executed.

In order to perform the planning. We need to :

• Plan A183_M0, A183_M1 separately. Then force plan A183_M2 as free_move.
• Plan A186_M1 and check the IK to be good. Replan if needed.
• Manually delete neighbouring b16's first free move A195_M0 because the start state is constrained.
• Plan entire b15 with --keep_planned_movement flag.
• Plan A195_M0.
• Check state for b15 with --verify_plan

Determine if Joint-Edge-Chamfering is needed.

• Get a feel by manual assembly
• Get better understanding with first joint assembly

Fix Hyparhut Gripper attachment hole colliding with floor joist joint

Clamps Firmware & Electronics

• Overcurrent for too long protection?
• Calibrate Address (Batt calibration ignored)
• Update Firmware (LED & Power Control)
• Power Control Validation Test
• Add ability to save homing settings and power settings.
• Improve code to not print to serial unless being talked to. (Performance)

Make drawings or 3d models for Hyparhut footing

Chamfer Canti Box Mid

Clamps Hardware

• Confirm Air outlet
• Test attachment on Ordered Beams
• Change Pins to 7 deg Tapered near 10mm base.
• Manual Attachment air hose and adapter
• Test Power Control on the extra piece of wood
• RePrint Clamp Padding Plastic to have a gap
• Print and test new Limit Switch block
• Glue the new pins (3 per clamp) back to the clamp
• Buy more air hose adapters