Abstract This paper presents a new approach to robotic fabrication in the building industry through the conceptualization, development and evaluation of a largescale, transportable and flexible robotic timber construction platform – named TIM. Novel solutions are necessary to make robotic fabrication technologies more accessible for timber construction companies. The developed robotic system is location independent and reconfigurable. It can be rapidly integrated into existing fabrication environments of typical carpentries on a per-project basis. This allows the exploitation of emerging synergies between conventional craft and specialized automation technologies and benefits both quality and productivity of the trade. We portrait how the platform enabled the effective robotic prefabrication of a complex segmented wood shell structure and discuss the fabrication system based on critical performance parameters. Further research is needed to disentangle the mutual dependencies of building-systems and respective automation technologies.

中文翻译：

---

灵活且可移动的机器人木结构平台——TIM

摘要 本文通过对大型、可移动和灵活的机器人木结构平台（名为 TIM）的概念化、开发和评估，提出了建筑行业机器人制造的新方法。需要新颖的解决方案才能使木材建筑公司更容易使用机器人制造技术。开发的机器人系统与位置无关且可重新配置。它可以在每个项目的基础上快速集成到典型木工的现有制造环境中。这允许利用传统工艺和专业自动化技术之间新兴的协同作用，并有利于贸易的质量和生产力。我们描绘了该平台如何实现复杂分段木壳结构的有效机器人预制，并讨论了基于关键性能参数的制造系统。需要进一步的研究来解开建筑系统和各自自动化技术的相互依赖关系。