Automating historical centering-minimizing masonry vaulting strategies: Applications to cooperative robotic construction

Edvard P.G. Bruun, Robin Oval, Wesam Al Asali, Orsolya Gáspár, Vittorio Paris, Sigrid Adriaenssens

Research output: Contribution to journalArticlepeer-review

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.

Original languageEnglish (US)
Article number100516
JournalDevelopments in the Built Environment
Volume20
DOIs
StatePublished - Dec 2024

All Science Journal Classification (ASJC) codes

  • Architecture
  • Civil and Structural Engineering
  • Building and Construction
  • Materials Science (miscellaneous)
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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