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Writer's pictureAlbert Li

Robotic fabrication: Reciprocal frame structures

Updated: Dec 2, 2024

Instructor: Lei Yu

Tutors: Zhongyuan Liu, Yijiang Huang, Jingwen Wang, Sai Xiao

Students: Zhi "Albert" Li, Bowen Miao, Xiaohua Yi, Canran Chen, Fei Zheng, Zhonggao Chen, Tianyuan Huang, Zheng Lu, Yu Chen, Xiaobei Wang, Bingyu Zeng, Yi Zhu, Yuxi Huang, Zheng Ren, Ke Qin, Shuai Sun, Ziyou Xu

Sponsor: School of Architecture, Tsinghua University

Figure 1. Final Effect



Abstract


A reciprocal frame (RF) is a self-supported three-dimensional structure made up of three or more sloping rods, which form a closed circuit, namely an RF unit. Although this structure can be easily implemented in a computer, it relies on external joints in the actual construction. This project aims to explore building RF-structure using interlocking integral joints using robotic fabrication. We developed an optimization program to guarantee the co-linearity of touched joints along with each stick while preserving the geometric properties of the RF structure. To verify the proposed, a wooden shell is built.






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