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dc.contributor.advisorNeil Gershenfeld.en_US
dc.contributor.authorCarney, Matthew Elien_US
dc.contributor.otherMassachusetts Institute of Technology. Department of Architecture. Program in Media Arts and Sciences.en_US
dc.date.accessioned2016-03-25T13:39:59Z
dc.date.available2016-03-25T13:39:59Z
dc.date.copyright2015en_US
dc.date.issued2015en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/101845
dc.descriptionThesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2015.en_US
dc.descriptionCataloged from PDF version of thesis.en_US
dc.descriptionIncludes bibliographical references (pages 109-113).en_US
dc.description.abstractRobotic assembly of discrete cellular lattices at super-hertz (>1Hz) assembly rates is shown to be possible by integrating the design of a modular robotic assembler with the specified lattice topology such that the lattice can itself be removed from the incremental assembly process. Limits to assembly rates are ultimately dependent on allowable error, system stiffness, and damping characteristics. Vibrations due to cyclical motions of the end-effector, locomotion system, and the dynamic response of an incrementally varying lattice must settle to acceptable ranges to enable engagement between end-effectors, discrete elements, and their affixing features to adjacent cells. For given system dynamics, longer settling times enables greater energy dissipation, and less error. With a greater allowable error at the interface, a shorter assembly cycle period can be attained. Passive alignment features designed into the robot end-effectors, locomotion systems, and the discrete lattice elements reduce the precision requirements of the assembly process by opening up the acceptable error range, thereby, enabling higher assembly cycle-rates. An experiment was performed to evaluate how an assembler locally referencing a lattice performed in comparison to a globally referenced assembler. The two assemblers were of similar kinematic form: both gantry-type CNC machines: a ShopBot and a custom built relative robotic assembler. The results showed superior performance by the global coordinate frame system. An error budget analysis of the two systems showed that the locally referenced, lattice based system had a larger more variable structural loop than the global coordinate frame ShopBot. The control experiment, demonstrated 0.1Hz assembly rates, while first order approximations predict a maximum 4Hz cycle for the specified interface geometry. Results show that in order to successfully assemble discrete cellular lattices at super-hertz rates the robot must itself become the local, instantaneous global coordinate frame such that the structural loop is absolutely minimized, while stiffness is maximized; at the instantaneous moment of assembly the structural loop of the robot must reference only itself.en_US
dc.description.statementofresponsibilityby Matthew Eli Carney.en_US
dc.format.extent113 pagesen_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectArchitecture. Program in Media Arts and Sciences.en_US
dc.titleDiscrete cellular lattice assemblyen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Architecture. Program in Media Arts and Sciences.en_US
dc.contributor.departmentProgram in Media Arts and Sciences (Massachusetts Institute of Technology)
dc.identifier.oclc941828989en_US


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