Robot-based facade spatial assembly optimization

摘要: Abstract Robotic involvement in construction is still its initial stages compared to other industries. Conventionally, the facade panel picking position done manually by trial and error. The designer chooses a place pick up piece within reach of robot arm, then simulates entire process digital model before applying assembly on job site. After that might detect errors, collisions, or singularities, which require modify changing location orientation module, thus repeating simulation cycle until they satisfactory result with no errors collisions. This work usually considered monotonous, inefficient, time consuming. Therefore, this research proposes an optimization implemented design stage project via static performance criteria order automatically search for best arm. goal automate finding solve limitations modular processes allow effective execution during robotic implementation. proposed approach, called iFobot, consists three modules: Facade Generative Modeling (iFobot-D), Robot Position Optimization (iFobot-B), Culminating Feedback BIM (iFobot-L). Specifically, scope paper limited arm placing processes. allows assessment possible as regards dimensions modules hence overall system, subsequently influences implementation A set generative algorithms were developed using commercially visual programming language populate building envelope, find locations their quantity take-off, integrate module environment. case study has been validate test system. results prove system generates optimized workstations lowest collision reachability rate while addressing operation reduction, reducing risks encountered increasing productivity. Moreover, iFobot predicted influence decision making physical