<p>This paper presents a robot-friendly scaffolding system that enables autonomous assembly with passive error correction using a dual-function mechanical connector. Conventional tube-and-clamp scaffolding requires precise manual alignment and tightening of flexible joints, which are challenging for automation. The proposed system replaces these manual operations with male and female joints that are pre-positioned accurately along each tube. The joints make use of a tapered-screw feature that performs both alignment and fastening in a single motion, thereby eliminating the need for accurate spatial alignment. Three experiments validated the approach. An alignment-tolerance test showed reliable engagement of the joints even with ± 5 mm translational and ± 3° angular deviation. A digital simulation of a multi-story structure confirmed robotic reachability, collision-free insertion, and stability throughout the assembly process. A physical structure with multiple joint arrangements demonstrated the assembly process with a real-world dual-arm robot without any external localization or alignment sensors. Together, the results demonstrate that mechanical self-correction at the joint level can propagate structural accuracy across the entire system.</p>