Integrated computational-robotic workflow for complex timber-only structures
(2026) Automation in Construction — Vol. 185 (2026)
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- Abstract
- Traditional timber joinery has been largely replaced by metal connectors due to industrial standardization, compromising the material's inherent low-carbon benefits and recyclability. To address this, this paper proposes a joint-informed computational-robotic workflow for timber-only spatial frames. The approach integrates vector-based graphic statics (VGS), geometric computation, and robotic toolpath generation into a continuous process. As a proof-of-concept, the workflow is demonstrated through the construction of a full-scale, 9.4-m-tall timber tower. While mechanical joint properties were not quantified through laboratory testing, the prototype confirms the system's geometric adaptability and construction feasibility under self-weight. Results indicate that the workflow successfully enabled robotic fabrication of 20 unique spatial nodes, achieved a 74% reduction in embodied carbon compared to steel-jointed equivalents, and facilitated a rapid 10-h reassembly process. This paper establishes a reproducible framework for materially coherent construction, contributing to the advancement of circular building practices and automated timber fabrication.
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Citations
Hua Chai, Tianyi Gao, Junwang Yu, Rasneur, S., Yige Liu, Zastavni, D., & Philip F. Yuan. (2026). Integrated computational-robotic workflow for complex timber-only structures. Automation in Construction, 185. https://doi.org/10.1016/j.autcon.2026.106887 (Original work published 2026)