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Robotic Free-Form Timber

Merah, Mars Planet LU (2025) ASEM01 20251
Department of Architecture and Built Environment
Abstract
This thesis investigates the potential of manufacturing load-bearing free-form timber using a six-axis industrial robot. Free-form timber curvature in this context refers to timber planes that can rotate freely along x, y, and z axes, resulting in non-planar curvature forms.
The motivation behind this thesis is to explore how renewable materials can be integrated with robotic fabrication to produce complex and expressive timber curves while supporting sustainable and efficient construction systems and architectural spaces. The core hypothesis lies in the feasibility of integrating robotic systems, particularly robotic setup tools and motion planning with traditional wood clamping tools to fabricate multi-curvature, load-bearing laminated... (More)
This thesis investigates the potential of manufacturing load-bearing free-form timber using a six-axis industrial robot. Free-form timber curvature in this context refers to timber planes that can rotate freely along x, y, and z axes, resulting in non-planar curvature forms.
The motivation behind this thesis is to explore how renewable materials can be integrated with robotic fabrication to produce complex and expressive timber curves while supporting sustainable and efficient construction systems and architectural spaces. The core hypothesis lies in the feasibility of integrating robotic systems, particularly robotic setup tools and motion planning with traditional wood clamping tools to fabricate multi-curvature, load-bearing laminated timber. This timber is then assembled into architectural spatial prototypes.
The research includes material experiments conducted with both traditional wood clamping tools and an ABB IRB 140 industrial robot, followed by assembly processes. Data from each experiment informs the design of subsequent ones. The resulting free-form timber elements are used to create physical prototypes and speculative architectural space designs.
Furthermore, this thesis demonstrates that the relationship between wood clamping tools and robotic motion planning hold significant potential for designing timber curvatures according to the architect’s or engineer’s intent. This can be achieved by adjusting the robot’s motion planning, such as through the robot’s motion planning by robot axes or by plane-finding (the inverse kinematic methods). (Less)
Please use this url to cite or link to this publication:
author
Merah, Mars Planet LU
supervisor
organization
course
ASEM01 20251
year
type
H2 - Master's Degree (Two Years)
subject
keywords
Free-form timber, Robotic fabrication, Load-bearing structures, Glulam, Timber architecture, Multi curvature geometries, Motion planning, Six-axis robot, Renewable materials
language
English
id
9201320
date added to LUP
2025-06-17 13:54:16
date last changed
2025-06-17 13:54:16
@misc{9201320,
  abstract     = {{This thesis investigates the potential of manufacturing load-bearing free-form timber using a six-axis industrial robot. Free-form timber curvature in this context refers to timber planes that can rotate freely along x, y, and z axes, resulting in non-planar curvature forms.
The motivation behind this thesis is to explore how renewable materials can be integrated with robotic fabrication to produce complex and expressive timber curves while supporting sustainable and efficient construction systems and architectural spaces. The core hypothesis lies in the feasibility of integrating robotic systems, particularly robotic setup tools and motion planning with traditional wood clamping tools to fabricate multi-curvature, load-bearing laminated timber. This timber is then assembled into architectural spatial prototypes.
The research includes material experiments conducted with both traditional wood clamping tools and an ABB IRB 140 industrial robot, followed by assembly processes. Data from each experiment informs the design of subsequent ones. The resulting free-form timber elements are used to create physical prototypes and speculative architectural space designs.
Furthermore, this thesis demonstrates that the relationship between wood clamping tools and robotic motion planning hold significant potential for designing timber curvatures according to the architect’s or engineer’s intent. This can be achieved by adjusting the robot’s motion planning, such as through the robot’s motion planning by robot axes or by plane-finding (the inverse kinematic methods).}},
  author       = {{Merah, Mars Planet}},
  language     = {{eng}},
  note         = {{Student Paper}},
  title        = {{Robotic Free-Form Timber}},
  year         = {{2025}},
}