Skip to main content

A Design-to-Fabrication Workflow for Free-Form Timber Structures Using Offcuts

  • Conference paper
  • First Online:
Computer-Aided Architectural Design. INTERCONNECTIONS: Co-computing Beyond Boundaries (CAAD Futures 2023)

Abstract

Currently, the timber industry in the European Union incinerates up to 80% of its waste wood, releasing its embodied CO2 into the atmosphere while producing energy. This practice also affects offcuts, a waste material from structural timber production, mostly because of aesthetic imperfections. However, there are potential architectural use cases for this material that extend its lifetime beyond downcycling. Therefore, we propose to employ these offcuts as load-bearing elements of free-form timber structures and present an integral design-to-fabrication workflow suitable for this task. In this paper, we discuss the underlying method in detail, specifically (1) the computational design process to optimally place timber offcuts and to compute wood joints, (2) the transfer of design data into a robotic fabrication process, and (3) the integration of these findings into a unifying design-to-fabrication workflow and its architectural implications. This process minimizes material waste and facilitates the design and buildup of offcuts into structural configurations, including their dis- and reassembly. The resulting timber morphologies consist of non-standard material aggregated under digital guidance, giving them a distinct aesthetic expression. A series of digital experiments demonstrated the capabilities of the conceived method. Finally, we prove the feasibility of the proposed workflow with the design and robotic fabrication of a full-scale Offcut Demonstrator under real-world conditions.

Pursued as thesis project and demonstration study at Bauhaus University Weimar.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 79.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 99.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Notes

  1. 1.

    The offcuts covered in this work exclusively consist of wood from Norway spruce (Picea abies), a softwood with typical anisotropic characteristics [5]. It is the most commonly available tree species to timber manufacturers in the mentioned region.

  2. 2.

    In this work, the three main dimensions of each offcut were measured manually.

  3. 3.

    If the sphere is not close to the start or the end of the curve, there will be two intersection points, of which only the second one is considered.

References

  1. Observatory, E.C.S.: Analytical report: Improving energy and resource efficiency. Technical report, European Commission, Brussels (2018)

    Google Scholar 

  2. Commission, E.: Directorate-General for Environment: A new circular economy action plan: For a cleaner and more competitive europe. Technical report, European Commission, Brussels (2020)

    Google Scholar 

  3. Churkina, G., et al.: Buildings as a global carbon sink. Nat. Sustainabil. 3, 269–276 (2020). https://doi.org/10.1038/s41893-019-0462-4

    Article  Google Scholar 

  4. Mair, C., Stern, T.: Cascading utilization of wood: a matter of circular economy? Curr. Forest. Rep. 3(4), 281–295 (2017). https://doi.org/10.1007/s40725-017-0067-y

    Article  Google Scholar 

  5. Dinwoodie, J.M.: Timber: Its Nature and Behaviour. E & FN SPON Online Taylor & Francis, London (2000)

    Book  Google Scholar 

  6. Willmann, J.: Digitale Revolution im Holzbau: Roboter, Narration, Entwurf. In: Rinke, M., Krammer, M. (eds.) Architektur fertigen: Konstruktiver Holzelementbau, pp. 137–142. Triest Verlag, Zurich (2020)

    Google Scholar 

  7. Wójcik, M., Strumiłło, J.: Behaviour-based Wood Connection as a Base for New Tectonics. In: Keitsch, M. (ed.) Proceedings of the 20th Annual International Sustainable Development Research Conference, pp. 170–184. Resilience: the New Research Frontier, Norwegian University of Science and Technology, Trondheim (2014). https://doi.org/10.21427/D71R50

  8. Liu, Y., Lu, Y., Akbarzadeh, M.: Kerf bending and zipper in spatial timber tectonics: a polyhedral timber space frame system manufacturable by 3-axis CNC milling machine. In: ACADIA 2021: Realignments (2021)

    Google Scholar 

  9. Takabayashi, H., Keita, K., Hirasawa, G.: Versatile robotic wood processing based on analysis of parts processing of Japanese traditional wooden buildings. In: Willmann, J., Block, P., Hutter, M., Byrne, K., Schork, T. (eds.) Robotic Fabrication in Architecture, Art and Design 2018. pp. 221–231. Springer, Zurich (2018). https://doi.org/10.1007/978-3-319-92294-2_17

  10. Vercruysse, E., Mollica, Z., Devadass, P.: Altered behaviour: the performative nature of manufacture. In: Willmann, J., Block, P., Hutter, M., Byrne, K., Schork, T. (eds.) Robotic Fabrication in Architecture, Art and Design 2018, pp. 309–319. Springer, Zurich (2018). https://doi.org/10.1007/978-3-319-92294-2_24

  11. Willmann, J., Knauss, M., Bonwetsch, T., Apolinarska, A.A., Gramazio, F., Kohler, M.: Robotic timber construction: expanding additive fabrication to new dimensions. Autom. Constr. 61, 16–23 (2016). https://doi.org/10.1016/j.autcon.2015.09.011

    Article  Google Scholar 

  12. Apolinarska, A.: Complex Timber Structures From Simple Elements: Computational design of novel bar structures for robotic fabrication and assembly. Ph.D. thesis, Swiss Federal Institute of Technology Zurich (ETHZ), Zurich (2018). https://doi.org/10.3929/ethz-b-000266723

  13. Helm, V., Ercan, S., Gramazio, F., Kohler, M.: Mobile robotic fabrication on construction sites: dimRob*. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, pp. 4335–4341 (2012). https://doi.org/10.1109/IROS.2012.6385617

  14. Eversmann, P., Gramazio, F., Kohler, M.: Robotic prefabrication of timber structures: towards automated large-scale spatial assembly. Constr. Rob. 1, 49–60 (2017). https://doi.org/10.1007/s41693-017-0006-2

    Article  Google Scholar 

  15. Wagner, H., et al.: Flexible and transportable robotic timber construction platform - TIM. Autom. Constr. 120, 16–23 (2020). https://doi.org/10.1016/j.autcon.2020.103400

    Article  Google Scholar 

  16. Thoma, A., Adel, A., Helmreich, M., Wehrle, T., Gramazio, F., Kohler, M.: Robotic fabrication of bespoke timber frame modules. In: Willmann, J., Block, P., Hutter, M., Byrne, K., Schork, T. (eds.) Robotic Fabrication in Architecture, Art and Design 2018, pp. 447–458. Springer, Zurich (2018). https://doi.org/10.1007/978-3-319-92294-2_34

  17. Thoma, A., Jenny, D., Helmreich, M., Gandia, A., Gramazio, F., Kohler, M.: Cooperative robotic fabrication of timber dowel assemblies. In: Leopold, C. (ed.) Research Culture in Architecture: Cross-Disciplinary Collaboration, pp. 77–87. Birkhäuser, Basel (2020). https://doi.org/10.1515/9783035620238-008

  18. Robeller, C., Weinand, Y., Helm, V., Thoma, A., Gramazio, F., Kohler, M.: Robotic integral attachment. In: Menges, A., Sheil, B., Glynn, R., Skavara, M. (eds.) Fabricate 2017: Rethinking Design and Construction, pp. 92–97. UCL Press, London (2017). https://doi.org/10.2307/j.ctt1n7qkg7.16

  19. Leung, P., Apolinarska, A.A., Tanadini, D., Gramazio, F., Kohler, M.: Automatic assembly of jointed timber structure using distributed robotic clamps. In: Globa, A., van Amoijde, J., Fingrut, A., Kim, N., Lo, T. (eds.) Projections, vol. 1, pp. 583–592. The Chinese University of Hong Kong, Hong Kong (2021). https://doi.org/10.52842/conf.caadria.2021.1.583

  20. Apolinarska, A.A., Pacher, M., Cote, H.L.N., Pastrana, R., Gramazio, F., Kohler, M.: Robotic assembly of timber joints using reinforcement learning. Autom. Constr. 125, 103569 (2021). https://doi.org/10.1016/j.autcon.2021.103569

    Article  Google Scholar 

  21. Kramberger, A., Kunic, A., Iturrate, I., Sloth, C., Naboni, R., Schlette, C.: Robotic assembly of timber structures in a human-robot collaborative setup. Front. Rob. AI 8 (2022). https://doi.org/10.3389/frobt.2021.768038

  22. Stehling, H., Scheurer, F., Roulier, J.: Bridging the gap from CAD to CAM: concepts, caveats and a new grasshopper plug-in. In: Gramazio, F., Kohler, M., Langenberg, S. (eds.) Fabricate 2014: Negotiating Design and Making, pp. 52–59. UCL Press, London (2017). https://doi.org/10.2307/j.ctt1tp3c5w.10

  23. Alvarez, M., et al.: The BUGA wood pavilion: integrative interdisciplinary advancements of digital timber architecture. In: ACADIA 2019: Ubiquity and Autonomy. pp. 490–499. The University of Texas at Austin School of Architecture, Austin (2019). https://doi.org/10.52842/conf.acadia.2019.490

  24. Robeller, C., von Haaren, N.: Recycleshell: wood-only shell structures made from cross-laminated timber (CLT) production waste. J. Int. Assoc. Shell Spat. Struct. 61, 125–139 (2020). https://doi.org/10.20898/j.iass.2020.204.045

  25. Yuan, P., Chai, H., Yan, C., Zhou, J.: Robotic fabrication of structural performance-based timber gridshell in large-scale building scenario. In: ACADIA 2016: Posthuman Frontiers, pp. 196–205. University of Michigan Taubman College, Ann Arbor (2016). https://doi.org/10.52842/conf.acadia.2016.196

  26. Svilans, T.: Integrated material practice in free-form timber structures. Ph.D. thesis, The Royal Danish Academy of Fine Arts, Copenhagen (2020). https://doi.org/10.5281/zenodo.4545124

  27. Poteschkin, V., Graf, J., Krötsch, S., Shi, W.: Recycling of cross-laminated timber production waste. In: Leopold, C. (ed.) Research Culture in Architecture: Cross-Disciplinary Collaboration, Birkhäuser, Basel, pp. 100–112 (2020). https://doi.org/10.1515/9783035620238-010

  28. Mangliár, L., Hudert, M.: Re:Shuffle. In: ICSA2022: Critical Practices, pp. 50–51. Aalborg University, Aalborg (2022)

    Google Scholar 

  29. Salas, J., et al.: Sourced Wood (2018). https://www.iaacblog.com/programs/sourced-wood/

  30. Najari, A., et al.: Good Wood: Robotic Upcycling (2018). https://www.iaacblog.com/programs/good-wood-robotic-upcycling/

  31. Castriotto, C., Tavares, F., Celani, G., Larsen, O.P., Browne, X.: Clamp links: a novel type of reciprocal frame connection. Int. J. Arch. Comput. 20(2), 378–399 (2022). https://doi.org/10.1177/14780771211054169

    Article  Google Scholar 

  32. Sunshine, G.: Inventory: CAD for medium resolution materials. In: ACADIA 2022: Hybrids & Haecceities. University of Pennsylvania, Weitzman School of Design, Philadelphia (2022)

    Google Scholar 

  33. Reisach, D.: Spruce Beetle (2022). https://doi.org/10.5281/zenodo.7157251

  34. Preisinger, C.: Linking structure and parametric geometry. Arch. Des. 83(2), 110–113 (2013). https://doi.org/10.1002/ad.1564

    Article  Google Scholar 

Download references

Acknowledgements

This research was conducted as a master’s thesis in the framework of the M.Sc. Architecture program at the Bauhaus University Weimar, Germany. It was supported with a Bauhaus Degree Completion Scholarship granted by the university. Offcuts were sponsored by Rettenmeier Holzindustrie Hirschberg GmbH. The authors especially thank Ringo Gunkel, Christian Hanke, Matthias Henkelmann, and Christian Möhwald for their support in the university’s workshops. Special thanks go to Michael Braun, who played an essential role in the installation and testing of the robot system.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Dominik Reisach .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Reisach, D., Schütz, S., Willmann, J., Schneider, S. (2023). A Design-to-Fabrication Workflow for Free-Form Timber Structures Using Offcuts. In: Turrin, M., Andriotis, C., Rafiee, A. (eds) Computer-Aided Architectural Design. INTERCONNECTIONS: Co-computing Beyond Boundaries. CAAD Futures 2023. Communications in Computer and Information Science, vol 1819. Springer, Cham. https://doi.org/10.1007/978-3-031-37189-9_24

Download citation

  • DOI: https://doi.org/10.1007/978-3-031-37189-9_24

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-37188-2

  • Online ISBN: 978-3-031-37189-9

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics