Multi-scalar robotic fabrication system for on-site press gluing in multi-storey timber buildings

The amount of timber construction has increased significantly in recent decades due to the development of digital processing technologies in prefabrication. However, on site, timber components are still commonly assembled manually and connected with low performance joint types. This paper presents a multi-storey timber building system with a co-designed heterogeneous multi-scalar robotic construction system, consisting of a clamping device, an industrial robotic arm, and an automated crane, for the automation of on-site timber construction. By integrating construction features into the building material, the different robotic entities can work together to assemble a point-supported quasi-monolithic timber panel of theoretically unlimited dimensions with high precision.