Integrated Design and Robotized Prototyping of Abeille’s Vaults

Chapter

Abstract

This chapter discusses a continuous process allowing the design, simulation, and automation of the robotic fabrication of stereotomic vaults obtained by adapting the stone elements bond typical of a flat vault designed in 1699 by the French engineer Joseph Abeille to a spherical surface. This process is based on the joint use of Wolfram Mathematica for the geometric modelling, and Grasshopper in combination with the HAL Robot Programming and Control plug-in for the feasibility analysis, the automated generation of toolpaths, the simulation of the movements of the robot, the dynamic calibration of the end-effector, and the programming of the machining tasks.

Keywords

Robotics Nexorade Reciprocal structures Integrated production Real-time 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.UCL Bartlett School of ArchitectureLondonUK
  2. 2.ENSA Paris-Malaquais, Laboratoire GSAParisFrance

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