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Robotic vault: a cooperative robotic assembly method for brick vault construction

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Abstract

Geometrically complex masonry structures built with traditional techniques typically require either temporary scaffolding or skilled masons. This paper presents a novel fabrication process for the assembly of full-scale masonry vaults without the use of falsework. The fabrication method is based on a cooperative assembly approach in which two robots alternate between placement and support to first build a stable central arch. Subsequently, the construction is continued individually by the robots - building out from the central arch based on an interlocking diagonal brick sequence. This proposed method is validated through its successful implementation in a full-scale vault structure consisting of 256 glass and concrete standardized bricks. The paper includes strategies for developing the design, sequencing, and robotic assembly methods used to build the vault.

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Acknowledgements

The construction of the vault was only feasible with the help of the many people that supported our research through administration, development and construction. We would like to acknowledge Ian Ting, Lisa Ramsburg and Lukas Fuhrimann (CREATE Lab Princeton), Grey Wartinger and William Tansley (Princeton School of Architecture), Michael Cascio, Mark Sarkisian and Dave Horos (Skidmore, Owings & Merrill). We would also like to acknowledge the Metropolis Project of Princeton University, and the Princeton Catalysis Initiative for supporting this project

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Authors and Affiliations

  1. CREATE Laboratory, Princeton University, Princeton, NJ, 08544, USA

    Stefana Parascho, Isla Xi Han & Edvard P. G. Bruun

  2. Skidmore, Owings and Merrill, Chicago, IL, USA

    Samantha Walker & Alessandro Beghini

  3. Form Finding Lab, Princeton University, Princeton, NJ, 08544, USA

    Edvard P. G. Bruun & Sigrid Adriaenssens

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  1. Stefana Parascho
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  2. Isla Xi Han
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  3. Samantha Walker
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  4. Alessandro Beghini
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  5. Edvard P. G. Bruun
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  6. Sigrid Adriaenssens
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Correspondence to Stefana Parascho.

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Parascho, S., Han, I.X., Walker, S. et al. Robotic vault: a cooperative robotic assembly method for brick vault construction. Constr Robot 4, 117–126 (2020). https://doi.org/10.1007/s41693-020-00041-w

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  • DOI: https://doi.org/10.1007/s41693-020-00041-w

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