A Compound Arm Approach to Digital Construction (2014-05)¶
, Spielberg Nathan, Klein John,
Contribution - Robotic Fabrication in Architecture, Art and Design 2014, pp. 99-110
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.
¶
4 References
- Keating Steven, Oxman Neri (2013-06)
Compound Fabrication:
A Multi-Functional Robotic Platform for Digital Design and Fabrication - Khoshnevis Behrokh (2003-11)
Automated Construction by Contour Crafting:
Related Robotics and Information Technologies - Khoshnevis Behrokh, Hwang Dooil, Yao Ke, Yeh Zhenghao (2006-05)
Mega-Scale Fabrication by Contour Crafting - Lim Sungwoo, Buswell Richard, Le Thanh, Austin Simon et al. (2011-07)
Developments in Construction-Scale Additive Manufacturing Processes
19 Citations
- Zargar Seyed, Leicht Robert, Wagner Alan, Duarte José et al. (2025-01)
Beyond Trial and Error:
Toward Construction-Aware Early Design-Optimization Considering Robotic Capabilities - Chougan Mehdi, Kheetan Mazen, Ghaffar Seyed (2023-07)
Additive Manufacturing and the Construction Industry - Cabibihan John-John, Gaballa Aya, Fadli Fodil, Irshidat Mohammad et al. (2023-06)
A Guided Approach for Utilizing Concrete Robotic 3D Printing for the Architecture, Engineering, and Construction Industry - Teixeira João, Schaefer Cecília, Rangel Bárbara, Maia Lino et al. (2022-11)
A Road Map to Find in 3D Printing a New Design Plasticity for Construction:
The State of Art - Demiral Nazim, Ozkan Ekinci Mehmet, Şahin Oğuzhan, İlcan Hüseyin et al. (2022-10)
Mechanical Anisotropy Evaluation and Bonding Properties of 3D Printable Construction and Demolition Waste-Based Geopolymer Mortars - Oke Ayodeji, Atofarati John, Bello Sherifat (2022-06)
Awareness of 3D Printing for Sustainable Construction in an Emerging Economy - Buswell Richard, Xu Jie, Becker Daniel, Dobrzanski James et al. (2022-04)
Geometric Quality Assurance for 3D Concrete Printing and Hybrid Construction Manufacturing Using a Standardised Test Part for Benchmarking Capability - Pasco Jubert, Lei Zhen, Aranas Clodualdo (2022-01)
Additive Manufacturing in Off-Site Construction:
Review and Future Directions - Sauter Andreas, Nasirov Aslan, Fidan Ismail, Allen Michael et al. (2020-11)
Development, Implementation and Optimization of a Mobile 3D Printing Platform - Codarin Sara (2020-07)
Additive Manufacturing Technologies in Restoration - Rashid Ans, Khan Shoukat, Ghamdi Sami, Koç Muammer (2020-06)
Additive Manufacturing:
Technology, Applications, Markets, and Opportunities for the Built Environment - Paolini Alexander, Kollmannsberger Stefan, Rank Ernst (2019-10)
Additive Manufacturing in Construction:
A Review on Processes, Applications, and Digital Planning Methods - Mostafavi Sina, Kemper Benjamin, Du Chong (2019-08)
Materializing Hybridity in Architecture:
Design to Robotic Production of Multi-Materiality in Multiple Scales - Rushing Todd, Stynoski Peter, Barna Lynette, Chaar Ghassan et al. (2019-02)
Investigation of Concrete Mixtures for Additive Construction - Delgado Camacho Daniel, Clayton Patricia, Brien William, Seepersad Carolyn et al. (2018-02)
Applications of Additive Manufacturing in the Construction Industry:
A Forward-Looking Review - Delgado Camacho Daniel, Clayton Patricia, Brien William, Ferron Raissa et al. (2017-07)
Applications of Additive Manufacturing in the Construction Industry:
A Prospective Review - Tay Yi, Panda Biranchi, Paul Suvash, Mohamed Nisar et al. (2017-05)
3D Printing Trends in Building and Construction Industry:
A Review - Keating Steven, Leland Julian, Cai Levi, Oxman Neri (2017-04)
Toward Site-Specific and Self-Sufficient Robotic Fabrication on Architectural-Scales - Rushing Todd, Chaar Ghassan, Eick Brian, Burroughs Jedadiah et al. (2017-01)
Investigation of Concrete Mixtures for Additive Construction
BibTeX
@inproceedings{keat_spie_klei_oxma.2014.ACAAtDC,
author = "Steven J. Keating and Nathan A. Spielberg and John Klein and Neri Oxman",
title = "A Compound Arm Approach to Digital Construction: A Mobile Large-Scale Platform for On-Site Sensing, Design, and Digital Fabrication",
doi = "10.1007/978-3-319-04663-1_7",
year = "2014",
pages = "99--110",
booktitle = "Robotic Fabrication in Architecture, Art and Design 2014",
editor = "Wesley McGee and Monica Ponce de Leon",
}
Formatted Citation
S. J. Keating, N. A. Spielberg, J. Klein and N. Oxman, “A Compound Arm Approach to Digital Construction: A Mobile Large-Scale Platform for On-Site Sensing, Design, and Digital Fabrication”, in Robotic Fabrication in Architecture, Art and Design 2014, 2014, pp. 99–110. doi: 10.1007/978-3-319-04663-1_7.
Keating, Steven J., Nathan A. Spielberg, John Klein, and Neri Oxman. “A Compound Arm Approach to Digital Construction: A Mobile Large-Scale Platform for On-Site Sensing, Design, and Digital Fabrication”. In Robotic Fabrication in Architecture, Art and Design 2014, edited by Wesley McGee and Monica Ponce de Leon, 99–110, 2014. https://doi.org/10.1007/978-3-319-04663-1_7.