TOOL-FREE CONNECTION SYSTEM FOR ROBOTIC ASSEMBLY OF LIGHTWEIGHT SHELL SYSTEMS

Robotic assembly of shell systems requires rethinking about how shell components are connected together. This research proposes a new standardized connection system for single curvature panelised systems. A triad connection at the vertices of a hexagonally tessellated structure has three independent variables, representing the three angles of the adjacent panels. The combinations of the different variables in a single shell structure produces hundreds of solutions where each solution is an independent connection. The connection system proposed solves this problem by having three articulating connecting fingers around a central hub. This connection system relies on a parametric environment and adapts to a variety of shell geometries and curvatures. The parameters of the design dictate the joint position and only reflect on the design of the panels. This type of standardized connection offers flexibility in the design of the structure, as well as being suitable for repurposing and use in other projects. The connections are designed for 3D printing “in-place” to reduce assembly and post-processing. The nature of this design makes it inherently easy to adjust for robotic assembly by changing the central hub features for easier manipulation by a robotic gripper. The validity of this solution is assessed in this work through tensile testing.