Automating historical centering-minimizing masonry vaulting strategies: Applications to cooperative robotic construction

This paper investigates the feasibility of adapting ancient historical construction techniques to cooperative robotic assembly methods to minimize centering requirements in masonry vaults. First, an overview of seven historical techniques is presented. Next, a classification framework is introduced to evaluate the automation potential of these methods, identifying the rib network as the most promising candidate. This is followed by two computational case studies on the cooperative robotic construction of planar masonry arches and multi-arch rib networks. These studies evaluated the impact of robotic reachability and support payload on the feasibility of centering-free construction. A conclusion based only on these simulation results is that high-payload fixed robots, in comparison to medium-payload mobile setups, allow for the construction of larger and more complex rib structures. This research is of relevance to architects and engineers interested in using a cooperative robotic fabrication framework to reduce centering in masonry vault construction. • Seven historical strategies for centering-minimizing masonry vaults are reviewed. • A classification methodology based on self-supporting mechanisms and primary structural design parameters is introduced. • Rib network construction is found to be the most adaptable method for cooperative robotic construction. • A computational case study shows the benefits of high-payload fixed robots in planar arch construction without centering. • Two construction sequences with three fixed high-payload robots simulate centering-free assembly of masonry arch rib networks.