SEQUENTIAL MODULAR ASSEMBLY
Cantilevering structures are usually realized using, e.g. falsework. One way of creating such structures can be achieved by exact weight distribution. Keeping the centre of mass of the cantilevering module above the physical edges of the underlying module, the cantilevering structure stays stable.
Weight Blocks
To build cantilevering structures with modules, we developed special weight modules that fit into the existing modular system. Different weights with the same volume were achieved by filling hollow weight modules with sand. This approach allowed four different weight modules to be incorporated into the existing modular system. Similar to the original modules, they also have a free y-axis, which allows us to place them at exact positions along the y-axis. To fit the weight modules into the existing modular system, we flipped the original modules so that they don’t interlock with each other but stand on top of each other. The weight modules then fit into the interspaces. The spacer module’s purpose is to align the modules when they get stacked by the robot.
Robotic Assembly
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Calculating the Mass Distribution
Additional weights are required to keep the aggregation at all steps in equilibrium. By installing weight to the module on top, the centre of mass of the module under it is moved in the direction of the additional weight. This needs to be considered when calculating the additional weights for the modules beneath.
Image by Leon Witschorke
The finesse of this approach is highlighted by two demonstrations robotically assembled. In the first case, a single-weight module was removed, causing the whole structure to collapse. In the second case, one extra weight module was added by the robot stimulating the collapse.
The project was conducted at TU Darmstadt by Leon Wietschorke, Timm Glätzer, Prof. Dr. Oliver Tessmann, and Bastian Wibranek
during the summer semester of 2019. It was presented at the 25th International Conference of the Association for Computer-Aided Architectural Design Research in Asia takes place in Bangkok 5-6 August 2020. https://caadria2020.org