We present a computational technique that aids with the design of structurally‐sound metal frames, tailored for robotic fabrication using an existing process that integrate automated bar bending, welding, and cutting. Aligning frames with structurally‐favorable orientations, and decomposing models into fabricable units, we make the fabrication process scale‐invariant, and frames globally align in an aesthetically‐pleasing and structurally‐informed manner. Relying on standard analysis of frames, we then co‐optimize the shape and topology of bars at the local unit level. At this level, we minimize combinations of functional and aesthetic objectives under strict fabrication constraints that model the assembly of discrete sets of bent bars. We demonstrate the capabilities of our global‐to‐local approach on four robotically‐constructed examples.

中文翻译：

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设计机器人建造的金属框架结构

我们提出了一种计算技术，可帮助设计结构合理的金属框架，该技术适用于使用集成自动钢筋弯曲、焊接和切割的现有工艺的机器人制造。将框架与结构上有利的方向对齐，并将模型分解为可制造的单元，我们使制造过程规模不变，并且框架以美观且结构合理的方式全局对齐。依靠框架的标准分析，我们然后在本地单元级别协同优化钢筋的形状和拓扑。在这个层面上，我们在严格的制造约束下最大限度地减少功能和美学目标的组合，这些限制对离散弯杆的组装进行建模。我们在四个机器人构建的示例上展示了我们的全局到本地方法的能力。