Abstract
We introduce a novel large-scale Digital Construction Platform (DCP) for on-site sensing, analysis, and fabrication. The DCP is an in-progress research project consisting of a compound robotic arm system comprised of a 5-axis Altec hydraulic mobile boom arm attached to a 6-axis KUKA robotic arm. Akin to the biological model of human shoulder and hand this compound system utilizes the large boom arm for gross positioning and the small robotic arm for fine positioning and oscillation correction respectively. The platform is based on a fully mobile truck vehicle with a working reach diameter of over 80 feet. It can handle a 1,500 lb lift capacity and a 20 lb manipulation capacity. We report on the progress of the DCP and speculate on potential applications including fabrication of non-standard architectural forms, integration of real-time on-site sensing data, improvements in construction efficiency, enhanced resolution, lower error rates, and increased safety. We report on a case study for platform demonstration through large-scale 3D printing of insulative formwork for castable structures. We discuss benefits and potential future applications.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bonwetsch T, Gramazio F et al (2007) Digitally fabricating non-standardised brick walls. In: Proceedings of ManuBuild, 1st international conference, Rotterdam
Bonwetsch T, Kobel D et al (2006) The informed wall: applying additive digital fabrication techniques on architecture. In: Proceedings of ACADIA, Louisville, Kentucky
Callieri M, Fasano A et al (2004) RoboScan: an automatic system for accurate and unattended 3D scanning. In: IEEE 2nd international symposium on 3D data processing, visualization and transmission
Castro E, Seereeram S et al (1993) A real-time computer controller for a Robotic Filament Winding system. J Intell Rob Syst 7(1):73–93
Edison T (1917) Apparatus for the production of concrete structures. Patent No. 1326854
Gramazio F, Kohler M (2008) Digital materiality in architecture. Lars Muller Publishers, Baden
Keating S (2012) Renaissance robotics: novel applications of multipurpose robotic arms spanning design fabrication, utility, and art. M.Sc. thesis, Mechanical Engineering, Massachusetts Institute of Technology
Keating S, Oxman N (2012) Immaterial robotic fabrication. In: Proceedings of RobArch: robotic fabrication in architecture, art and design
Keating S, Oxman N (2013) Compound fabrication: a multi-functional robotic platform for digital design and fabrication. Robot Comput Integr Manuf 29(6):439–448
Khoshnevis B (2004) Automated construction by contour crafting—related robotics and information technologies. Autom Constr 13(1):5–19
Khoshnevis B, Hwang D et al (2006) Mega-scale fabrication by contour crafting. Int J Ind Syst Eng 1(3):301–320
Lim S et al (2012) Development in construction-scale additive manufacturing processes. Autom Constr 21(1):262–268
Nise N (2011) Control systems engineering. Wiley, Hoboken
Saulters JD, Scarr RH (1985) Method and apparatus for controlling the position of a hydraulic boom. Patent No. 4514796A
Shirinzadeh B, Alici G et al (2004) Fabrication process of open surfaces by robotic fibre placement. Robot Comput Integr Manuf 20(1):17–28
Yong Y, Rydberg K, An L (2005) An improved pi control for active damping of a hydraulic crane boom system. In: Proceedings from the international society for optical engineering
Acknowledgments
We would like to acknowledge Altec Industries for their support of this project and technical assistance. In addition, this research was supported in part by an NSF EAGER grant award #1152550 “Bio-Beams: Functionally Graded Rapid Design and Fabrication”. We would like to thank the Mediated Matter group and the MIT Media Lab for their kind help and support. Specifically, we would like to acknowledge Ali AlShehab, Benjamin Jennet, Dr. David Wallace, Dr. Franz Hover, Hannah Barrett, Sergio Falcon, Will Bosworth and Xiaoyue Xie for their assistance with this project.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Keating, S., Spielberg, N.A., Klein, J., Oxman, N. (2014). A Compound Arm Approach to Digital Construction. In: McGee, W., Ponce de Leon, M. (eds) Robotic Fabrication in Architecture, Art and Design 2014. Springer, Cham. https://doi.org/10.1007/978-3-319-04663-1_7
Download citation
DOI: https://doi.org/10.1007/978-3-319-04663-1_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-04662-4
Online ISBN: 978-3-319-04663-1
eBook Packages: EngineeringEngineering (R0)