Integrated computational-robotic workflow for complex timber-only structures

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. • Validates a computational-robotic workflow via a 9.4 m timber-only tower. • Computational joint system resolves spatial nodes with 3 to 7 members. • Joint-informed design enabled 9-day robotic fabrication and 10-h reassembly. • Demonstrates 74% lower embodied carbon than steel connectors.