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Abstract. This paper focuses on the realization of three-dimensionally interwoven concrete structures and their design process. The output is part of an ongoing research in developing an innovative strategy for the use of robotics in construction. The robotic fabrication techniques described in this paper are coupled with the computational methods dealing with geometry rationalization and material constraints among others. By revisiting the traditional bar bending techniques, this research aims to develop a novel approach by the reduction of mechanical parts for retaining control over the desired geometrical output. This is achieved by devising a robotic tool-path, developed in KUKA|prc with Python scripting, where fundamental material properties, including tolerances and spring-back values, are integrated in the bending motion methods via a series of mathematical calculations in accord with physical tests. This research serves to demonstrate that robotic integration while efficient in manufacturing it also retains valid alignment with the architectural design sensibility. Keywords: Robotic fabrication
Robotic bar bending
Concrete composite Geometry optimization
Polypropylene formwork




1 Introduction In previous decades, architecture evolved rapidly through a series of innovations in digital design techniques where geometrical assemblies are generated through computational form-finding methods. At the same time, digital fabrication techniques have witnessed a more compromised level of development, uneven with that of the vast array of computationally sophisticated formations. In recent years, robotic fabrication procedures applied in architecture have begun to incorporate digital and analogue paradigms in an unparalleled way due to the multi-axis freedom of the industrial robot arm, its speed, precision, and low tolerances [1]. The current advancements of robotic fabrication processes in architecture has fueled the emergence of complexity found in mass-customized assemblies, moving away from previous standardized/sheet-material component fabrication [2]. This paper illustrates the outcomes of an ongoing research towards developing an innovative strategy for the construction of three-dimensionally interwoven concrete composite structures. The investigations are conducted as part of the Architectural © Springer Nature Singapore Pte Ltd. 2017 G. Çağdaş et al. (Eds.): CAAD Futures 2017, CCIS 724, pp. 273–288, 2017. DOI: 10.1007/978-981-10-5197-5_15

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Association (AA) Summer DLAB Visiting School 2016. Research methods include the employment of computational design and robotic fabrication techniques that incorporate geometry rationalization and material constraints. The objectives of the research focus on the evaluation and interpretation of a traditional fabrication process, steel bar bending, towards its development within the domain of advanced computational and robotic methods. Through the review of bar bending technology in traditional manufacturing industries that are well-documented a