Three cooperative robotic fabrication methods for the scaffold-free construction of a masonry arch
نویسندگان
چکیده
Geometrically complex masonry structures (e.g., arches, domes, vaults) are traditionally built with scaffolding or falsework to provide stability during construction. The process of building such can potentially be improved through the use multiple robots working together in a cooperative assembly framework. Here robot is envisioned as both placement and external support agent fabrication – unfinished structure supported way that not required. goal this paper present validate efficacy three approaches using two robots, for scaffold-free construction stable arch from which medium-span vault built. A simplified numerical method represent first presented validated analyze systems composed discrete volumetric elements. This then used evaluate effect robotic strategies on performance central arch. sequential cantilever , utilize arms, shown viable methods, but have challenges related scalability robustness. By adding third agent, it becomes possible determine structurally optimal sequence multi-objective optimization process. optimized significantly improve structural behavior over all steps. modeling broadly formulated widely applicable analysis sequences across scales.
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چکیده ندارد.
15 صفحه اولA Parametric Study: Frame Analysis Method for Masonry Arch Bridges
The predictability of masonry arch bridges and their behaviour is widely considered doubtful due to the lack of knowledge about the conditions of a given masonry arch bridge. The assessment methods for masonry arch bridges are MEXE, ARCHIE, RING and Frame Analysis Method. The material properties of the masonry and fill material are extremely difficult to determine accurately. Consequently, it i...
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ژورنال
عنوان ژورنال: Automation in Construction
سال: 2021
ISSN: ['1872-7891', '0926-5805']
DOI: https://doi.org/10.1016/j.autcon.2021.103803