Versatile Robotic Wood Processing Based on Analysis of Parts Processing of Japanese Traditional Wooden Buildings
Processing parts of wooden buildings by robots and computerized numerical control (CNC) machines has been attempted in recent years. However, the shapes of the processed parts are constrained by the machines and attached tools. Modified parts cannot be applied to traditional wooden buildings, as the shapes of the parts are an aspect of the tradition. This paper introduces a method of versatile processing of wooden building parts using an articulated robot, based on the analysis of part shape and carpentry tools used in Japanese wooden building construction. The goal is to process the original part shape of the construction method as is, without optimizing it for the robot and machining. We analyze Japanese carpentry tools and processing methods and propose a method to flexibly process wooden building parts using a circular saw, square chisel, vibration chisel, and router. Then, using robots employing these tools, we process parts of a five-storied pagoda of a Japanese traditional wooden building. We consider flexible processing of the wooden building parts.
KeywordsJapanese traditional wooden architecture Part processing Industrial robots
This work was supported by a JSPS Grant-in-Aid for JSPS Research Fellow grant number 16J02060.
- 1.Statistics Bureau of Japan Homepage, Historical Statistics of Japan Chapter 26 Culture and Leisure, Cultural Properties 26-16. http://www.stat.go.jp/english/data/chouki/26.htm. Accessed 2 Mar 2018
- 2.Statistics Bureau of Japan Homepage, Population Census. http://www.stat.go.jp/english/data/kokusei/index.htm. Accessed 2 Mar 2018
- 3.Hans Hundegger AG Homepage. https://www.hundegger.de. Accessed 2 Mar 2018
- 4.Ban, S.: Tamedia Shin Honsha (Tamedia New Office Building). In: Shinkenchiku-sha (ed.) Shinkenchiku 92(3), pp. 39–49. Shinkenchiku-sha, Tokyo (2017)Google Scholar
- 6.Dank, R., Freissling, C.: The framed pavilion.In: Brell-Çokcan, S., Braumann, J. (eds.) ROB|ARCH 2012: Robotic Fabrication in Architecture, Art and Design, pp. 238–447. Springer, Vienna (2013). https://doi.org/10.1007/978-3-7091-1465-0_28
- 7.Robeller, C., Nabaei, S., Weinand, Y.: Design and fabrication of robot-manufactured joints for a curved-folded thin-shell structure made from CLT. In: McGee, W., Ponce de Leon, M. (eds.) Robotic Fabrication in Architecture, Art and Design 2014, pp. 67–81. Springer International Publishing Switzerland (2014). https://doi.org/10.1007/978-3-319-04663-1_5
- 8.Johns, R.L., Foley, N.: Bandsawn bands feature-based design and fabrication of nested freeform surfaces in wood. In: McGee, W., Ponce de Leon, M. (eds.) Robotic Fabrication in Architecture, Art and Design 2014, pp. 17–32. Springer International Publishing Switzerland (2014). https://doi.org/10.1007/978-3-319-04663-1_2
- 9.Takenaka Carpentry Tools Museum, Jousetsu tenji zuroku (Permanent exhibition catalog). Kobe (2009)Google Scholar
- 10.Sumiyoshi, T., Matsui, G.: Mokuzou no tsugite to shiguchi (Joining method of wooden architecture). Kajima Institute Publishing, Tokyo (1989)Google Scholar
- 11.Fujisawa, K., Tadokoro, H.: Mokuzou kenchiku no kidori to sumitsuke (Cutting and marking method of wooden architecture). Inoueshoin, Tokyo (2001)Google Scholar