Scholarlink

<p>We present the co-development and integration of a fully automated, multi-robot screw-press gluing cyber-physical production system for the prefabrication of a Multi-Story Timber Building System (MSTBS). The system integrates Hardware Setup, Task Planning, and Control Communication, ensuring compliance with the strict requirements for adhesive time. Two containerized robots collaborate in a shared workspace to execute glue application, component placement, and torque-controlled pressing. Precomputed kinematic reachability informs placement and setup co-optimization, followed by motion planning and hierarchical scheduling. A level-based barrier protocol enables safe, asynchronous execution with supervisory traceability and logging for quality assurance and quality control (QA/QC). A full-scale physical prototype validates the feasibility and traceability of this system, demonstrating a scalable and efficient pathway for industrially viable large-format timber slab prefabrication.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Constraint to capability: a multi-robot screw-press gluing micro-factory for scalable and efficient multi-story timber slab assembly

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年7月2日

查看全文
  • Zhenxiang Huang,
  • Tim Stark,
  • Lior Skoury,
  • Aaron Wagner,
  • Simon Treml,
  • Felix Amtsberg,
  • Hans Jakob Wagner,
  • Thomas Wortmann,
  • Achim Menges

摘要

We present the co-development and integration of a fully automated, multi-robot screw-press gluing cyber-physical production system for the prefabrication of a Multi-Story Timber Building System (MSTBS). The system integrates Hardware Setup, Task Planning, and Control Communication, ensuring compliance with the strict requirements for adhesive time. Two containerized robots collaborate in a shared workspace to execute glue application, component placement, and torque-controlled pressing. Precomputed kinematic reachability informs placement and setup co-optimization, followed by motion planning and hierarchical scheduling. A level-based barrier protocol enables safe, asynchronous execution with supervisory traceability and logging for quality assurance and quality control (QA/QC). A full-scale physical prototype validates the feasibility and traceability of this system, demonstrating a scalable and efficient pathway for industrially viable large-format timber slab prefabrication.