Layered Catenary

Seminar Title: Misfigures @ Sci-Arc Robot House| Fall 2011 | Los Angeles, CA
Instructor: Andrew Atwood
Research Fellows: Jonathan Proto | Brandon Kruysman
Lab Manager: Nazareth Ekmekjian 
Robot: Staubli RX-160 | Staubli TX-90
Workflow: Rhino, Grasshopper

Layered catenary is a series of experiments that explore material behavior and free form fabrication of a rheological material. The material is deposited from a specifically designed end arm tool mounted on a 6-axis robot. The tool is activated through a pneumatic piston controlled by the integrated air system of the robot arm. The motion of the robot is controlled by Rhino and a Grasshopper script generated by Andrew Atwood. The material propensity allows for high material variability and structural flexibility. The viscous material solidifying under the force of gravity created default forms which are catenaries. The catenary form is layered in a matrix forming a three dimensional grid of catenary structures. By varying the speed and distance of the robot, the strands can vary in thickness and in length. The fabrication process is understood through the video.


Video Link: Layered Catenary

Robotic End Arm Tool

Seminar Title: Misfigures @ Sci-Arc Robot House| Fall 2011 | Los Angeles, CA
Instructor: Andrew Atwood
Research Fellows: Jonathan Proto | Brandon Kruysman
Lab Manager: Nazareth Ekmekjian 
Robot: Staubli RX-160 | Staubli TX-90
Workflow: Rhino, Grasshopper

The development of the end arm tool took about two weeks to design and develop. It started off with a series of prototypes which was finally modified and calibrated into a reliable end arm tool. The trigger mechanism is actuated by a two-way pneumatic piston which is controlled by the integrated air system in the robot arm. The air system is controlled by grasshopper in a series of “I’s” and “O’s”, to constantly pull the trigger in a rhythmic manner keeping the flow of the hot glue consistent.


Video Link: End Arm Tool Assembly