Fig. 7: Fabrication of the Prototype.
From: Reciprocal frame design for large-scale timber construction
a Fabrication Process. The process began with parametric design and node generation in Grasshopper (GH), followed by CNC cutting of the components. Robotic arms then automatically assembled the pieces according to a predetermined sequence. b Node Intersection rules. Each node in the configuration integrates 4 systems, intersecting horizontally and vertically to form 4 distinct junction types, each requiring unique cutting methods. c Assembly Sequence. The assembly rules were defined as center-outward in the planar direction and x-axis to y-axis in the sectional direction. d Robotic Fabrication. Due to the complexity of node intersections, digital twin technology was employed to control robotic arms for automated assembly, with human-robot collaboration for oversight. The scaled model demonstrated strong load-bearing capacity and efficient assembly (23 min) and disassembly (5 min) with human-robot collaboration. e Configuration Disassembly. The design allows rapid disassembly and replacement of components. The frame maintains significant load-bearing capacity even with some components missing, demonstrating structural redundancy.
