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Adaptive Winding - A multi-robot collaboration for on-site filament structures
This thesis investigates the evolution and application of coreless filament winding for on-site robotic fabrication in architectural construction. Traditional Fiber-Reinforced Polymer (FRP) winding methods rely on fixed cores or mandrels to shape structures, limiting design flexibility and often requiring the transport of prefabricated components to the construction site. In contrast, coreless filament winding eliminates the need for a core, enabling the creation of spatially complex geometries through fiber-to-fiber interactions and dynamic tensioning. This research builds on previous advancements in multi-robot systems and aims to push the boundaries of on-site filament winding, offering a more adaptive, efficient, and scalable approach.
A key focus of this research is integrating mobile robot systems that autonomously navigate construction sites, increasing flexibility and scalability in the fabrication process. By employing anchor walkers and a shuttle system, fibers are dynamically wound in real-time, responding to site-specific conditions and load-bearing requirements. This method eliminates the logistical challenges associated with transporting large prefabricated components and allows for real-time adjustments during fabrication, particularly in non-standard architectural forms.
In addition to refining mobile-robot winding, this thesis investigates spatial winding, a fabrication technique that remains underdeveloped compared to other robotic processes. By enabling robots to wind fibers in three-dimensional space, the research aims to optimize load paths and create lightweight, structurally efficient forms. Ultimately, this work contributes to the advancement of robotic architecture, offering new insights into lightweight construction and adaptive filament winding methods for the future of architectural design and fabrication.
ITECH M.Sc. Thesis Project 2024: Adaptive Winding - A multi-robot collaboration for on-site filament structures
Hamed Behmanesh
Thesis Advisers: Rebeca Duque Estrada, Tim Stark
Thesis Supervisor: Prof. Achim Menges
Second Supervisor: Prof. Jan Knippers