Endpoints were screened.
Endpoint reach screen / candidate poses, before obstacle-tested routing
First rafter pair / saved holding pose + proposed joining pose
ALAM KOLA / FIELD RECORD + ROBOTIC ASSEMBLY STUDY
Nefar.
A nefar is a raised timber shelter used by farmers in Mazandaran to rest and watch over their fields. This field record from Alam Kola became a 155-member robotic assembly study.
01 / ASSEMBLY AS THE CENTRAL QUESTION
How could the frame be built?
Move from an empty site through 98 placements of 155 saved members. Scrub the model to see what is built at each step and where a robot route was checked.
155source members accounted for
98playback placements
31later checked robot lifts
ALAM KOLA / ASSEMBLY MODELEmpty site → complete structure
GABLE CAD / DUAL-GANTRY STUDY
GRID 1 m / Z UP
GRID 1 m / Z UP
0 / 1550 / 98 placements
0.0 / 0.0 s
Loading source playback…
Physical fixing, access and work between robot jobs require further engineering checks.
Source-mesh 3D playback / conditional construction study. Select a placement, inspect the cell, and follow the route where a checked lift exists.Open the interactive sequence larger ↗
02 / PHOTOGRAPHED STRUCTURE
The frame before cladding.
The field photographs show an exposed gable frame and an enclosed hipped Nefar. The drawings and assembly model focus on the exposed frame.
01 / EXPOSED GABLE FRAME Nearest field reference for the saved assembly geometry
02 / ENCLOSED NEFAR Hipped-roof field example; a separate form from the gable CAD
03 / FROM DRAWING TO MEMBERS
A drawing becomes an order of work.
Original drawings and recovered solids expose the plan, bracing and roof layers. The contact graph turns those members into a possible order of work.
The drawings separate the roof, frame, floor and cladding. The dependency graph connects the members to an assembly order. Open the complete dependency graph ↗
04 / TESTS THAT CHANGED THE METHOD
One route worked. The full programme did not.
Reach checks found candidate poses; one loaded route carried a member. The longer single-arm programme then stalled on grasp and dependencies, prompting the two-arm cell study.
One member was carried.
One early sampled member route / computed in a partial preassembly
The longer order stalled.
A larger run exposed grasp and dependency failures; most later placements could not proceed from that start.
05 / ROBOTIC CONSTRUCTION LOGIC
One arm holds. The other joins.
One robot holds a timber in position; the other approaches its connection. The opposed rail cell followed a failed single-arm trial. These are proposed tools and motions, not a commissioned machine.
The connection study places a 5 mm stepped bracket beside the clamp shoe. Post screws are set at Z = 260 mm, 40 mm apart, and base screws at Z = 150 mm, 70 mm apart. The higher screw position was dropped because it conflicted with the clamp.
Hold-and-join / proposed operation at a member connection
A second moving arm is proposed to reach the connection while the first retains the timber pose.
The gripper and driver studies explore how one arm can hold a timber while the other reaches the connection.
The robot views retain their saved colors. The adjacent plan projects rail extents and one sampled tool path. The cell was not fabricated. Open original cell model view ↗
06 / WHAT THE SEQUENCE CHECKS
Every placement has a different level of evidence.
All 155 members appear in 98 playback placements, but their motions have different evidence. The key below separates checked robot paths, checked roof slides and guided illustrations.
Recorded + checked31 later loaded robot paths, with source-member geometry.
Clearance checked20 straight roof panel slides against source solids.
Illustrative29 remaining guided transitions and unmodeled work between jobs.
Each mark represents one placement. The axonometric uses the same colours on the timber members, while the interactive sequence shows the corresponding tool paths.
07 / SECOND FIELD STRUCTURE
Telar, alongside Nefar.
A telar is a timber shelter associated with herding and keeping livestock in the mountains of Mazandaran. This example has stacked log walls, a pitched roof and an attached canopy; the field photographs show cattle and milking beside it.
