AI 中文总结
本研究将几何智能编码入结构化材料系统，提出自对准复合嵌套晶格模块，实现三维互锁装配，经测试模块刚度等性能达标，可重复使用支持可重构建造。
AI 中文摘要
机器人建造系统通常将材料系统与机器人视为独立的设计问题，智能主要体现在硬件、传感、运动规划与控制中。本项目则研究如何将几何智能编码到结构化材料系统中，以同时满足机器人抓取、自对准、可逆连接、结构性能及三维集合的需求。我们引入由连体立方八面体-八面体单元构成的自对准复合嵌套晶格模块，模块的立方八面体特征提供了机器人抓取与对准的限定表面，八面体特征则整合了可螺丝释放的卡扣式连接器及相应的接收器。此外，我们提出一种嵌套排列方式，可实现沿x、y、z轴的互锁集合。我们通过机械臂和移动装配器组装家具及建筑规模的结构，验证了该系统，生成的构型包括座椅、跨度结构、表面及垂直框架。对复合模块的压缩测试显示，其刚度为4556 N/mm，最大载荷为3445 N，压缩模量为17.5 MPa。该模块还可拆解并重复用于不同构型，支持可重构与循环建造。
英文摘要
Robotic construction systems often treat the material system and the robot as separate design problems, locating intelligence primarily in hardware, sensing, motion planning, and control. This project instead investigates how geometric intelligence can be encoded within architected material systems to simultaneously address requirements for robotic grasping, self-alignment, reversible connection, structural performance, and three-dimensional aggregation. We introduce a self-aligning compound nested lattice module composed of conjoined cuboctahedral-octahedral units. The cuboctahedral features of the modules provide defined surfaces for robotic grasping and alignment, while the octahedral features incorporate screw-releasable snap-fit connectors and corresponding receptors. Additionally, we present a nested arrangement that enables interlocking aggregation along the x, y, and z axes. We demonstrate the system through furniture and architectural scale structures assembled using both a robotic arm and mobile assembler. The resulting configurations include seating, spanning structures, surfaces, and vertical frames. Compression testing of the compound module produced a stiffness of 4,556 N/mm, a maximum load of 3,445 N, and a compressive modulus of 17.5 MPa. The modules can also be disassembled and reused across different configurations, supporting reconfigurable and circular construction.
CommentsAccepted to the 46th Annual Conference for the Association for Computer Aided Design in Architecture (ACADIA), 2026
