Project Overview

CORE 2024 is a project focused on designing a system of multi-robot assembly of rigidity-preserving structures, all while eliminating the use of scaffolding. This is done through the a multi-robot setup where robots act both as workers and scaffolding ensuring rigidity along the (dis)assembly process. Topological / geometry contstraints are necessary to ensure that each step of the assembly is locally and globally rigid. Our project starts by reconfiguring an existing design with those constraints in mind, then through an assembly sequence algorithm which creates the order of steps of assembly ensuring rigidity is working in cooperation with the structural reconfiguration and optimisation setup for evalutation, and the same ordered elements are used in combination with the multi-robot framework to generate the assembly programs for the robots.

Make sure you check the requirements Requirements

Read the full documentation of the project: Team07ProjectPortfolio.pdf

(Open the .pdf file externally since GitHub may not display all the images properly)

The Rhinoceros & RoboDk files necessary to run the software can be found in the external links below

Instructions for the Robot Prototype:

RoboticAssembly.md

Example File for the Assembly Sequence Algorithm: Examples

Repository Structure

The repository is organized as follows:

• src/: Contains the source code for the project
  • ansys/: Contains simulation files and data on the topological optimisation and detailed analysis of node geometry
• examples/: Example files for assembly sequence and robot prototype
• data/: Datasets of cutting patterns and structural design
• gh/: Grasshopper files for robot prototype and structural design / assembly sequence

This repository provides access to the three main components of the project:

1. The Assembly Sequence Algorithm

The core structure of this computational framework is integrated into all parts of the project.

Required Files: • assembly_sequence_and_cutting_stock.gh

2. The Structure Design & Optimisation Algorithm

Required Files:

• 241105_Combined model.gh • 241105_Combined model.3dm
• on_site_assembly.xlsx

3. The Multi-Robot Assembly Setup Algorithm

Required Files:

• RoboticAssemblyPrototype.3dm
• RoboticAssemblyPrototype.rdk
• RoboticAssemblyPrototype.gh

Optional External Interface: • RobotManager.py

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Prerequisites

• Rhinoceros 8
  Download from https://www.rhino3d.com/

• RoboDk
  Download from https://robodk.com/download

• Rhinoceros & RoboDk Files
  Download from Google Drive

• GH_Linear_Cutting
  Download .gha file from https://github.com/AlexanderMorozovDesign/GH_Linear_Cutting

• Karamba
  Download from https://karamba3d.com/

• Hops
  Download from https://www.food4rhino.com/en/app/hops

• Telepathy
  Download from https://www.food4rhino.com/en/app/telepathy

• Human
  Download from https://www.food4rhino.com/en/app/human

• Fox
  Download from https://www.food4rhino.com/en/app/fox

• Pufferfish
  Download from https://www.food4rhino.com/en/app/pufferfish

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Installation

1. Clone the repository:

   gh repo clone SimosManiatis/multi-robot-assembly
   

2. Install Pre-requisites Rhinoceros 8,RoboDk & Karamba need licenses ro run.

Contact

For questions or support, please contact: Email : smaniatis@tudelft.nl , P.Feijen@student.tudelft.nl, s.a.bentvelsen@student.tudelft.nl, A.Mavrotas@student.tudelft.nl

Citation

GH_Linear_Cutting GitHub Repository