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Additional resources for Rob | Arch 2012: Robotic Fabrication in Architecture, Art, and Design

Example text

In addition to understanding the possible working positions that the TCP (tool centre point) can reach, other constraints of the specific robot kinematic, which comprises the interaction between motors and internal sensors, need to be taken into account, as for example the limited rotation around the A6 axis of various robot types caused by the effector’s power and air supply pipes. In the case of this research project the robot set-up for fabricating the fingerjointed plywood plates (Fig. 6) consist of: [i] KUKA KR125/2 robot with a distance of 1210mm between the A3 and A6 axes, [ii] KUKA KPF1-V500V1 turntable as A7 axis, on which the stock piece is mounted, with a distance of 2225mm between the A1 and A7 axes, [iii] HSD ES 350 spindle unit and [iv] Leitz 20/120 Z4 milling tool, which was custom-made by one of the project’s industrial partners and used for all fabrication processes.

This important geometric principle also proves to be a general characteristic found in many biological plate structures in nature at different scales (Wester 2002; Nachtigall 2004). Since stability and adaptability are a main factor in the animal’s survival, biological plate skeletons have developed towards highly efficient load-bearing structures as in the case of sand dollars, a sub-species of the sea urchins (Echinoidea) (Seilacher 1979). In the following research, the morphology of natural plate structure systems serve as role models from which architecturally and structurally performative principles can be synthesized.

13b) and the regions producible with the 7-axis robot set-up (Fig. 13c) can be registered and compared. In this case, the related expansion of the machinic morphospace identifies the significant gain of morphological variance enabled by the inclusion of the turntable. e. different tools, different axes positions, different mounting mechanisms, etc) can be mapped into the same theoretical morphospace to register possible shifts and expansions to the space of fabricable building element morpholo- Figure 14 Each dimension of a theoretical gies.

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