Design of Robotically Fabricated Timber Frame Structures

Abstract

This paper presents methods for designing nonstandard timber frame structures, which are enabled by cooperative multi-robotic fabrication at building scale. In comparison to the current use of automated systems in the timber industry for the fabrication of plate-like timber frame components, this research relies on the ability of robotic arms to spatially assemble timber beams into bespoke timber frame modules. This paper investigates the following topics: 1) a suitable constructive system facilitating a just-in-time robotic fabrication process; 2) a set of assembly techniques enabling cooperative multi-robotic spatial assembly of bespoke timber frame modules that rely on a human–machine collaborative scenario; 3) a computational design process that integrates architectural requirements, fabrication constraints, and assembly logic; and 4) implementation of the research in the design and construction of a multi-story building, which validates the developed methods and highlights the architectural implications of this approach.