{"title":"Automating historical centering-minimizing masonry vaulting strategies: Applications to cooperative robotic construction","authors":"","doi":"10.1016/j.dibe.2024.100516","DOIUrl":null,"url":null,"abstract":"<div><p>This paper investigates the feasibility of adapting ancient historical construction techniques to cooperative robotic assembly methods to minimize centering requirements in masonry vaults. First, an overview of seven historical techniques is presented. Next, a classification framework is introduced to evaluate the automation potential of these methods, identifying the rib network as the most promising candidate. This is followed by two computational case studies on the cooperative robotic construction of planar masonry arches and multi-arch rib networks. These studies evaluated the impact of robotic reachability and support payload on the feasibility of centering-free construction. A conclusion based only on these simulation results is that high-payload fixed robots, in comparison to medium-payload mobile setups, allow for the construction of larger and more complex rib structures. This research is of relevance to architects and engineers interested in using a cooperative robotic fabrication framework to reduce centering in masonry vault construction.</p></div>","PeriodicalId":34137,"journal":{"name":"Developments in the Built Environment","volume":null,"pages":null},"PeriodicalIF":6.2000,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2666165924001972/pdfft?md5=abfcf926673c85cea957a607ca4e3520&pid=1-s2.0-S2666165924001972-main.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Developments in the Built Environment","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2666165924001972","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CONSTRUCTION & BUILDING TECHNOLOGY","Score":null,"Total":0}
引用次数: 0
Abstract
This paper investigates the feasibility of adapting ancient historical construction techniques to cooperative robotic assembly methods to minimize centering requirements in masonry vaults. First, an overview of seven historical techniques is presented. Next, a classification framework is introduced to evaluate the automation potential of these methods, identifying the rib network as the most promising candidate. This is followed by two computational case studies on the cooperative robotic construction of planar masonry arches and multi-arch rib networks. These studies evaluated the impact of robotic reachability and support payload on the feasibility of centering-free construction. A conclusion based only on these simulation results is that high-payload fixed robots, in comparison to medium-payload mobile setups, allow for the construction of larger and more complex rib structures. This research is of relevance to architects and engineers interested in using a cooperative robotic fabrication framework to reduce centering in masonry vault construction.
期刊介绍:
Developments in the Built Environment (DIBE) is a recently established peer-reviewed gold open access journal, ensuring that all accepted articles are permanently and freely accessible. Focused on civil engineering and the built environment, DIBE publishes original papers and short communications. Encompassing topics such as construction materials and building sustainability, the journal adopts a holistic approach with the aim of benefiting the community.