Digital Construction Platform: A Compound Arm Approach
Name
TO DEPOSIT Digital Construction Platform with cover images.pdf
Size
9.24 MB
Format
Adobe PDF
Checksum (MD5)
af5244fc62135ab606f52c6e35ebdf6f
Author(s)
Spielberg, Nathan A.
Klein, John
Oxman, Neri
Keating, Steven John
Alternative Title
A Compound Arm Approach to Digital Construction
Date Issued
2014
Journal
Robotic Fabrication in Architecture, Art and Design 2014
Publisher
Springer-Verlag
Citation
Keating, Steven, Nathan A. Spielberg, John Klein, and Neri Oxman. “A Compound Arm Approach to Digital Construction.” Robotic Fabrication in Architecture, Art and Design 2014 (2014): 99–110.
Version
Author's final manuscript
Abstract
We introduce a novel large-scale Digital Construction Platform (DCP) for on-site sensing, analysis, and fabrication. The DCP is an in-progress research project consisting of a compound robotic arm system comprised of a 5-axis Altec hydraulic mobile boom arm attached to a 6-axis KUKA robotic arm. Akin to the biological model of human shoulder and hand this compound system utilizes the large boom arm for gross positioning and the small robotic arm for fine positioning and oscillation correction respectively. The platform is based on a fully mobile truck vehicle with a working reach diameter of over 80 feet. It can handle a 1,500 lb lift capacity and a 20 lb manipulation capacity. We report on the progress of the DCP and speculate on potential applications including fabrication of non-standard architectural forms, integration of real-time on-site sensing data, improvements in construction efficiency, enhanced resolution, lower error rates, and increased safety. We report on a case study for platform demonstration through large-scale 3D printing of insulative formwork for castable structures. We discuss benefits and potential future applications.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Program in Media Arts and Sciences (Massachusetts Institute of Technology)
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/978-3-319-04663-1_7
