Gramazio Kohler Research

@PHDTHESIS{20.500.11850/478068, copyright = {In Copyright - Non-Commercial Use Permitted}, year = {2020}, type = {Doctoral Thesis}, institution = {SNF}, author = {Gandia, Augusto}, size = {129 p.}, abstract = {The development of computational design technologies and prefabricationsystems have enabled the construction of bespoke long-span spatial structures. However, the construction of such structures still relies on wastefulmilling processes for the production of custom parts and labor-intensiveprocesses for their manual assembly. Building upon prefabrication systems,several institutions investigated robotic processes for the automatic construction of bespoke spatial structures. However, the new challenges introducedby these complex processes have been only handled through inefficient andproject-specifc fabrication strategies that lead to constrained designs.This thesis investigates computational design methods to tackle two of themost relevant challenges of robotically assembling spatial structures, whichinclude the generation of collision-free robot paths and the handling of tolerance build-up. The two methods enable the computational rationalization of spatial structures, meaning that they allow verifying input designson their buildability. Such verification is pursued through two complementary strategies. The first strategy is computational post-rationalization andallows verifying a design after it is defined. The second strategy is computational co-rationalization and allows re-adjusting a design while verifying itsbuildability.The ultimate goal of this thesis is to extend the range of spatial structuresthat can be robotically fabricated through efficient and less wasteful construction processes. An additional goal is to enable the computational rationalization of the structure ahead of the construction phase to explore awider range of spatial structures. The investigation complements the investigation of other research projects, by integrating the methods researchedby this thesis within the design workflow of these projects. This integrationallows validating the methods through the computational rationalization oflarge-scale spatial structures and their realization in the Robotic FabricationLaboratory at ETH Zurich.}, keywords = {Architecture; Robotic fabrication; Computational design and digital fabrication}, language = {en}, address = {Zurich}, publisher = {ETH Zurich}, DOI = {10.3929/ethz-b-000478068}, title = {Robotic Fabrication Simulation. A Computational Method for the Design of Fabrication-aware Spatial Structures}, school = {ETH Zurich}

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