Multi-functional adaptive robotic fabrication strategy for irregular reclaimed timber in large-scale building components for circular construction

Reusing wood in construction is crucial for advancing circular practices as global demand for timber exceeds sustainable
supply. This research investigates an adaptive robotic fabrication strategy for constructing structural architectural components
from irregular reclaimed timber. Building on prior work in digital upcycling and augmented-reality-assisted assembly, this
study develops a multi-functional fabrication framework that integrates automated pick-and-place, nailing, drilling, and
doweling into a coherent robotic process for non-standard timber elements. Reclaimed timber from industrial offcuts, demolition,
and used pallets is scanned and digitally mapped to capture geometric and material variability. Computational design
tools then optimize the arrangement of these elements within structural assemblies, balancing performance and fabrication
feasibility. Using a 6-axis industrial robot with a linear axis, this system executes adaptive pick-and-place operations and
mono-material joining through pneumatic wood nailing, drilling, and doweling, avoiding metal connectors or adhesives. The
integrated workflow combines open- and closed-loop control, laser sensing, and parametric design to manage tolerances in
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geometry and surface quality. Two full-scale case studies, consisting of frame and floor slab components, demonstrate the
system’s feasibility and architectural application. The results position multi-functional robotic fabrication as a key enabler for
circular construction, transforming reclaimed timber from low-grade waste into a high-value building resource. The research
advances digital design, fabrication, and sustainability by framing robotic upcycling as a pathway toward resource-efficient
architectural production.