Optimized Assembly Sequence for Self-Interlocking SL Blocks in Robotic Fabrication

Self-interlocking SL blocks offer a modular construction method without adhesives or fasteners, which is suitable for prefabricated building components. Their interlocking geometry ensures stability while enabling rapid assembly and disassembly, making them ideal for robotic fabrication. The robotic assembly of SL blocks reduces labor costs, improves safety, and offers flexibility for various construction needs. The assembly sequence is crucial for robotic fabrication, influencing feasibility and efficiency. Automating this sequence optimizes the process, addressing challenges like component pre-assembly, structural stability, and robot motion planning. This study develops an algorithm for an optimized assembly sequence using a robotic arm. The sequence is derived by reversing a disassembly process. In each loop, a candidate block is selected based on criteria like removable blocks, stability checks, and collision avoidance. Minimizing robotic arm joint rotations and refining motion planning based on block distance from the source ensure structural integrity and operability. The approach narrows possible solutions to determine an optimal assembly sequence.