Abstract
Geometrically complex masonry structures built with traditional techniques typically require either temporary scaffolding or skilled masons. This paper presents a novel fabrication process for the assembly of full-scale masonry vaults without the use of falsework. The fabrication method is based on a cooperative assembly approach in which two robots alternate between placement and support to first build a stable central arch. Subsequently, the construction is continued individually by the robots - building out from the central arch based on an interlocking diagonal brick sequence. This proposed method is validated through its successful implementation in a full-scale vault structure consisting of 256 glass and concrete standardized bricks. The paper includes strategies for developing the design, sequencing, and robotic assembly methods used to build the vault.
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