Robotization of Construction for Reciprocal Frame Structures

Robotic technologies have demonstrated significant potential for applications in the construction industry. However, a review of previous studies reveals that current practices in robotic construction require the development of various specialized robots to accommodate individual tasks in complex building processes. This thesis introduces a robot-friendly structure, the reciprocal frame (RF) structure, along with its geometric form-finding method and mechanical performance. The thesis then develops a collaborative robotic system for the construction of RF structures and studies the effects of intrinsic and extrinsic parameters on the developed robotic collaborative system.