This dissertation, "Modular Robots for Self-constructing Building Systems" by A Scott, Howe, was obtained from The University of Hong Kong (Pokfulam, Hong Kong) and is being sold pursuant to Creative Commons: Attribution 3.0 Hong Kong License. The content of this dissertation has not been altered in any way. We have altered the formatting in order to facilitate the ease of printing and reading of the dissertation. All rights not granted by the above license are retained by the author.
Abstract:
ABSTRACT This thesis adapts modular object-oriented generality and flexibility to the entire production process of buildings and structures by redefining all of the building components as robots that participate in their own assembly. The methodologies followed in the investigation include mathematical models, simulations, and physical mechanisms for exploring geometry, kinematics, material handling, mobility, hierarchy, interface, and enclosure of proposed modular robotic construction frameworks.
The motivation for this research was to find construction solutions for structures and habitats proposed for extreme environments in space and on remote planetary surfaces, where labor costs and lack of a safe work environment encourage the use of automation. The advantages of applying modular robotics technology to the construction of buildings are discussed, including the elimination of specialized construction tools and heavy lifting equipment, effective material handling, construction in extreme and hazardous environments, and the capacity for reconfiguration on demand.
Investigation methods include geometry models for rigorous parametric optimal sizing of modules, forward and inverse kinematic algorithms, simulation of hierarchical behavior between multiple modules, applied mechanism design, applied module design, and algorithms for assembly of basic structures, with proposed schemes for reconfiguration into alternative structures.
The results examined include concepts for three geometries of modular construction robots that coincide with categories of building structure (linear element, planar element, and solid element). The study elaborates on a panel-based (planar element) framework that establishes a known environment within itself for ease of navigation, facilitates material handling, creates its own mobility, and generates valid hierarchical structure.
This work is significant because it combines modular approaches from both the fields of building construction and robotics, and demonstrates how a variety of flexible structure configurations can be built without specialized construction equipment or human labor i (which will be particularly useful in extreme or hazardous environments). Of further significance is the demonstration that material handling and mobility can be achieved within the same modular framework that defines the structural enclosure, so that the advantages are not limited to the construction of fixed structures but can also be applied to the design and assembly of mobile structures and vehicles. ii
DOI: 10.5353/th_b3900518
Subjects:
Robots, Industrial
Construction industry - Automation