Or, Yarden, Kobi, Maria

Table Of Content
Part I
- Abstract ...............................................................................................10-11
- Head V1.0 .............................................................................................12-19
- Head V1.1 ..............................................................................................20-29
- Code (Grasshopper) ........................................................................30-39
Part 2
- Electronic Scheme ..........................................................................43
- Material Application ......................................................................46-49
- Head V2.0 ...........................................................................................50-61
- Code (Grasshopper) .......................................................................62-73
- Code (Arduino) .................................................................................76-93
Part 3
- Lab Reports .......................................................................................96-107
- Bibliography .......................................................................................107
- Reference ............................................................................................108-111

Part
I

Applied Research Laboratory _ DMT I Desruptive Material Technology
Abstract
this project is a work of students at the technion institute of technology.
The idea behind it is creating a smart tool which can attach to the KUKA robotic arm to
weave wires according to heat readings that it gets on the surface that the work is being
done on.
the project includes: developing the 'Spinneret head' which is the smart tool, code for the
weaving movement made with Grasshopper and Python, Arduino code for the heat readings
made with Python and a module which is basically the surface on which the weaving is done on.
Diagram
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Mockup - BETA
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MOCKUP
SPINNER HEAD TOOL V1.0
1
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Components
Isometric view
SPINNER HEAD TOOL V1.0
This is the first mockup of the tool that we designed. In this
version of the head we tried to understand the shape and
mechanics that will allow the arm to deploy a wire betweend
rodes that are placed on a flat surface.
Body
sahped in a simple box shape, the body is big inof to allow the
parts to be change.
Material: Wood
Size: 12 x 4 x 10 [cm]
Connector
this part is simulating the connecting part to the KUKA arm.
allow us to simulate the position of the Flange.
Material: Wood
Size: 5 x 1 x 5 [cm]
Cartridge Rod
the rod is supported through the body and holds the web
cartridge. the pipe shape allows the cartridge to rotate and
release the wire.
Material: stainless steel
Size: diameter: 6 [mm] , Length: 10 x 5 [cm]
Leading Pipe
because of the extended shape, the pipe is leading the wire to
the position of the movement course.
Material: silicone
Size: diameter: 5 [mm], Length: 5 [cm]
Tension Supporter
providing stretch between the Cartridge and the Leading pipe.
Material: metal
Size: diameter: 2 [mm], Length: 8 [cm]
Nut
Size: 6 [mm]
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Assembly
Isometric view
1
2
1
Body
2
Connector
3
Cartridge Rod
4
Leading Pipe
5
Tension Supporter
6
7
Nut
Wire Wheel
4 5
3
7
6
Cartridge insertion
The Nut prevents the Cartridge
from falling.
It can also lock the cartridge
by strengthening the nut and
preventing it from rolling.
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Applied Research Laboratory _ DMT I Desruptive Material Technology
OPERATION METHOD
SPINNER HEAD TOOL v.1.0
Isometric view
Tension
The tension of the wire is the degree to which
it is stretched. In this tool the tension is created
by tying the end of the wire to any object and
moving the arm against the object position.
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Applied Research Laboratory _ DMT I Desruptive Material Technology
The tension that is created from the
movment turns into the spinning movment
of the Cartridge and that's what releases
the wire.
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Conclusions
Version 1.0
1. Reduce the mass of the body.
2. Intensify the tension between the wire and cartridge.
3. The position and the size of the cartridge needs to be flexible.
4. Improve the connection between the body and the arm with the Flange.
5. Improve the pipe by making it detachable.
Make Flexible
Improve Flange
Connection
Intensify
Tension
Reduce Mass
Turn into
Detachable Pipe
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Applied Research Laboratory _ DMT I Desruptive Material Technology
3D PRINT
SPINNERET HEAD TOOL V1.1
2
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Components
Isometric view
SPINNERET V1.1
From the conclusions that we made from the last version
we decided to improve the movment flexebility by reducing
material and to accurate the position of the wire. Furthermore,
we upgraded the Leading Pipe instruments to improve the
support of the wire. This new version named after the part in
the spider (animal) that responsible on leading the cobweb
out of the spider - Spinneret.
Body
'L' shaped body in order to use less metrial mass while still
being firm enough.
Material: Wood
Size: 12 x 2x 10 [cm]
Flange
this part is 3D printed from the KUKA site.
Material: PLA
Size: 4 x 1.2 x 4 [cm]
Cartridge Rod
the rod is supported through the body and holds the web cartridge.
the pipe shape allows the cartridge to rotate and release the wire.
Material: stainless steel
Size: daimeter: 6 [mm] , Length: 10x 7 [cm]
Pipe House
the house that connected to the body via a screw allows the
Leading Pipe to be removable in time of need.
Material: stainless steel
Size: daimeter: 2 [cm] , Length: 2.7 [cm]
Leading Pipe
because of the extended shape, the pipe is leading the wire to
the position of the movment course.
Material: stainless steel
Size: daimeter: 5 [mm], Length: 8 [cm]
Pipe.
Material: silicone
Size: daimeter: 5 [mm], Length: 5 [cm]
Tension Supporter
providing stretch between the Caritage and the Leading pipe.
Material: metal
Size: daimeter: 1 [cm]
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Assembly
Isometric view
The Flange is consist of two parts
that connected to each other and to
the Robotic Arm with four screws. in
the other side of the flange there is
a connector that connects the body
to the Flange.
The disassembly of the elements planed to
improve the loading prosidure of the wire
into the pipe and to inable the option of
fixing any jam in the pipe area.
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Applied Research Laboratory _ DMT I Desruptive Material Technology
PLANS
Right view
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Top View
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Left view
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Front View
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Conclusions
Version 1.1
1. 3D print the flange part with the body in one piece.
2. Improve the connection of the cartridge rod by strengthening the screws.
3. Change the way of attaching the wire wheel because it was heavy and had a
big moment.
4. Lengthen the cartridge rod in order to reach all the parts of the screw. the
screws are 12 [cm]
5. Add the electric part to the body to make it a smart head; heat reading camera,
arduino board and wires.
6. Make the body size bigger to fit all the gadgets.
7. Attach the glue container to create hardened weaved construction.
3D print as one
part
Make Body Size
Bigger
Attach Wheel
Differently
Strengthen
Connection
Attach Arduino
Board
Add Glue
Container
Attach Heat
Reading Camera
Make Cartridge
Rod Longer
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CODE
Code 1.1
B
A
A - Surface Composition
B - Point Sorting
C
C - Kuka Movement
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Brep
Top Surface
Code Objective:
Test a basic movement with the kuka robot
that we are interested to apply in our project.
the code uses a 2D hexagonal surface on which it
performs a scan and plans the movement.
this code was made with grasshopper components
only.
Steps:
1- choosing a BREP from RHINO.
2- choosing the outlines of the shape.
3- choosing the upper outlines on which the
movement is going to be performed.
4- dividing the lines to control points and arranging
them in the wanted order.
5- inserting the points into the KUKA program.
Result:
linear movement that passes through the center
point of a star shape.
Path Border
Control points division
Sorting points to different lists
Path
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Code 1.2
D
D
Code Objective:
Movement feasibility of code 3.
in this code, we used 4 screws in different
heights that are connected to a 2D surface.
this code contains a new element which is wrapping around a
scew.
the code is manual: movement direction, number of screws and
number of wraps are all manually inserted.
Steps:
1- inserting outlines of the wanted shape plus an extra point of a
screw if needed.
2- creating control points of the shape.
3- creating guidelines that represent the screws in the code.
4- manual selection of each and every screw.
5- manual selection of every control point.
6- extracting the center point of every screw.
7- Inserting all the points to Python code that creates the wrapping
movement.
8- extracting the start and end point of every wrapping movement.
9- connecting between the end point of a wrap to the start point
of the next wrap.
10- uniting all the created lines into one list that will be arranged
according to the movement.
11- divicing the lines into control points.
12- inserting the control points to the KUKA program.
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Brep
Top Surface
Path Border
Border Control Points
Extrude Screw Simulators
Path
Wrapping Path
0 max = 2 * math.pi
1 #print max, math.pi
2
3 deltaXY = max / nPoints # Angle step in radians
4 deltaZ = height / nPoints # Height step
5
6 sideM = 0
7 ang = 0
8 dz = 0
9 pts = [] # List of points defining the spiral
10 lines = []
# List of crossing lines
11 pipes = []
# List of crossing tubes
12
13 #Define Miroring
14
15 if Side == True:
16 sideM = -1
17 elif Side == False:
18 sideM = +1
19
20 for i in range(int(nPoints + 1)):
21 x = diX + radius * sideM * math.cos(times * ang) # Circle vertex.X
22 y = diY + radius * math.sin(times * ang) # Circle vertex.Y
23 z = diZ + dz
# Circle vertex.Z
24
25 pts.append(rs.AddPoint([x, y, z]))
26
27 ang = ang + deltaXY
28 dz = dz + deltaZ
29
30 # Create circles
31 cir = rs.AddInterpCurve(pts)
32
33 # Rotating the spring
34 rs.RotateObjects(cir, [diX, diY, diZ], Rotate , None)
35
36 pt = rs.DivideCurve(cir, nPoints, True, True)
37
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Code 2.1
B
c-1
D
F
A
c
D
E
E-1
G
H
Code Objective:
Movement feasibility of code 3.
in this code, we checked the option of creating a wrapping
movement around the screws in different heights.
in this code 5 screws of the same height are connected to a
rectangular 2D surface.
The code is manual: wrapping direction, number of wraps nad
number of screws are inserted manually.
Steps:
1- inserting outlines of the wanted shape plus an extra point of a
screw if needed.
2- creating control points of the shape.
3- creating guidelines that represent the screws in the code.
4- manual selection of each and every screw.
5- manual selection of every control point.
6- extracting the center point of every screw.
7- Inserting all the points to Python code that creates the wrapping
movement.
8- extracting the start and end point of every wrapping movement.
9- connecting between the end point of a wrap to the start point
of the next wrap.
10- uniting all the created lines into one list that will be arranged
according to the movement.
11- divicing the lines into control points.
12- inserting the control points to the KUKA program.
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Brep
Top Surface
Path Border
Border Control Points
{0}
0 40
1 32
2 50
3 30
4 73
Extrude Screw Simulators
Screws Heights
Path
Wrapping Path
0 max = 2 * math.pi
1 #print max, math.pi
2
3 deltaXY = max / nPoints # Angle step in radians
4 deltaZ = height / nPoints # Height step
5
6 sideM = 0
7 ang = 0
8 dz = 0
9 pts = [] # List of points defining the spiral
10 lines = []
# List of crossing lines
11 pipes = []
# List of crossing tubes
12
13 #Define Miroring
14
15 if Side == True:
16 sideM = -1
17 elif Side == False:
18 sideM = +1
19
20 for i in range(int(nPoints + 1)):
21 x = diX + radius * sideM * math.cos(times * ang) # Circle vertex.X
22 y = diY + radius * math.sin(times * ang) # Circle vertex.Y
23 z = diZ + dz
# Circle vertex.Z
24
25 pts.append(rs.AddPoint([x, y, z]))
26
27 ang = ang + deltaXY
28 dz = dz + deltaZ
29
30 # Create circles
31 cir = rs.AddInterpCurve(pts)
32
33 # Rotating the spring
34 rs.RotateObjects(cir, [diX, diY, diZ], Rotate , None)
35
36 pt = rs.DivideCurve(cir, nPoints, True, True)
37
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Code 2.1
A - Shape Contour Insert
B - Screw Creator
C - Height Chooser
D- Midscrew Finder
G- Course Point For Kuka
C-1- Control Point Chooser
F- Line Creator String To String
H- Kuka Simulator
E- Spin Creator
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Applied Research Laboratory _ DMT I Desruptive Material Technology
E-1 - Python Spiral
spiral code
1- insert center point and x,y,z
2- creating the spiral code that duplicates the points according to the cos formula.
https://sites.math.washington.edu/~ebekyel/Math126/Spiral.html
3- the radius and the distance between every spiral is determined manually.
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Code 2.2
B
c-1
D
F
A
c
D
E
E-1
G
H
Code Objective:
Movement feasibility of code 3.
in this code, we checked the option of creating a wrapping
movement around the screws in different heights.
in this code 5 screws of the same height are connected to a rectangular 2D
surface.
The code is manual: wrapping direction, number of wraps nad number of
screws are inserted manually.
Steps:
1- inserting outlines of the wanted shape plus an extra point of a screw if
needed.
2- creating control points of the shape.
3- creating guidelines that represent the screws in the code.
4- manual selection of each and every screw.
5- manual selection of every control point.
6- extracting the center point of every screw.
7- Inserting all the points to Python code that creates the wrapping movement.
8- extracting the start and end point of every wrapping movement.
9- connecting between the end point of a wrap to the start point of the next
wrap.
10- uniting all the created lines into one list that will be arranged according to
the movement.
11- divicing the lines into control points.
12- inserting the control points to the KUKA program.
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Brep
Top Surface
Path Border
Border Control Points
{0}
0 40
1 32
2 50
3 30
4 73
Extrude Screw Simulators
Screws Heights
Path
Wrapping Path
0 max = 2 * math.pi
1 #print max, math.pi
2
3 deltaXY = max / nPoints # Angle step in radians
4 deltaZ = height / nPoints # Height step
5
6 sideM = 0
7 ang = 0
8 dz = 0
9 pts = [] # List of points defining the spiral
10 lines = []
# List of crossing lines
11 pipes = []
# List of crossing tubes
12
13 #Define Miroring
14
15 if Side == True:
16 sideM = -1
17 elif Side == False:
18 sideM = +1
19
20 for i in range(int(nPoints + 1)):
21 x = diX + radius * sideM * math.cos(times * ang) # Circle vertex.X
22 y = diY + radius * math.sin(times * ang) # Circle vertex.Y
23 z = diZ + dz
# Circle vertex.Z
24
25 pts.append(rs.AddPoint([x, y, z]))
26
27 ang = ang + deltaXY
28 dz = dz + deltaZ
29
30 # Create circles
31 cir = rs.AddInterpCurve(pts)
32
33 # Rotating the spring
34 rs.RotateObjects(cir, [diX, diY, diZ], Rotate , None)
35
36 pt = rs.DivideCurve(cir, nPoints, True, True)
37
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Part
II

Applied Research Laboratory _ DMT I Desruptive Material Technology
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Electronic Scheme
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Material Experiment Documentation
The Experiment's goal is to figure out the right material for the wire and the
glue that is gonna be used in weaving our model.
>> We Want To Find A flexible strong Wire and a fast drying Glue.
Glue Types
- Loctite super glue-3
- Poxipol >A<
- Poxipol >B<
- 5 Minute Epoxy
Wire Types
Test Combinations
Orange Thin Wire
Radius : 0.5mm
Test 1: comined with Loctite, 2 drops - 20 second
Test 2: combined with Epoxy, 3 drops - 1 hour
Test 3: combined with Poxipol A/B, 3 dorps - 1 hour
Brwon Thick Tough Wire
Radius : 1mm
Test 1: combined with Loctite, 3 drops - 10 seconds
Test 2: combined with Epoxy, 4 drops - 50 minutes
Test 3: combined with Poxipol A/B, 4 drops - 50 minutes
Orange Thin Wire
Radius : 0.125mm
Test 1: combined with Loctite, 2 drops - 5 seconds
Test 2: combined with Epoxy, 4 drops - 55 minutes
Test 3: combined with Poxil A/B, 4 drops - 55 minutes
White Thick Soft Wire
Radius : 1mm
Test 1: combined with Loctite, 5 drops - 2 seconds
Test 2: combined with Epoxy, 5 drops - 1 hour
Test 3: combined with Poxipol A/B, 5 drops - 1 hour
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Board Types
The Aluminum Board suggest
heating the aluminum pads
which will be placed above
the heating pads of the same
size, so reading of the camera
will be done one the aluminum
pads themselves.
Opt A: Board with Aluminum heated plate
The Double Board suggests
heating through the nails
themselves. in the gap the
heating pads will be placed
and attached to the nails and
the camera does the reading
on the upper board where
only the nails will be visible.
Opt B: Board with heated Nails
conclusions
Glue
We can clearly conclude from the experiment that the glue that gave the best results
was the Loctite Super Glue-3. In average , we had to use fewer drops of it and it dried
all the wires the fastest : took from 2 - 20 seconds to dry, while the other type took
about an hour.
Wire
The choice of the wire eventually is the soft white wire. It has the best physical
qualities amongst all the others: it is flexible enough, thick enough and when combined
with the Loctite Super Glue-3 it gives the Best Structure out of all the options.
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Construction Materials Documentation
The Experiment's Goal is to test which way is better to create the construction
removal after we knit the whole designed grid with the chosen wire and glue.
Opt A: half straws with brown wire
with glue
Opt B: Brown Wire with glue
Opt C: full straws and silicon pipes with
white wire
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Opt A:
the tops of the screws were cut and half straws with a small radius were inserted
to the screws. the construction that was formed with the brown wire and glue
was good but the removal was hard. it can be seen in the left pic of Opt A how the
straw was bent while removing it.
Opt B:
the screws remained whole in this option. the wire was knitted around them with
out any construction removal technique. the idea was to remove the nails from the
board with the formed construction.
Opt C:
the tops of the screws were cut again, this time they were inserted into a big
radius straws and silicon pipes, which allows more freedom for the removal process,
however, it caused the construction to weaken because of the freedom of the
straws that caused the tention to get weaker.
conclusions
Straws
we can conclude from the experiment that after the glue was hardened , the best way
to remove the formed construction was with the straws and pipes and the white wire.
as it is easy to remove and the glue and wire struck good on the straws and silicon pipes.
so to conclude we chose silicon pipes because the wires and glue stuck much better
at it than the straws.
the wanted silicon pipes should be in a smaller radius to fit better with the screws.
Screws
The screws are going to stay whole like in Option B, and the operation of the removal
will by unscrewing the screws upwards and detaching them from the wooden board.
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3D PRINT
SPINNERET HEAD TOOL V2.0
3
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Components
Isometric view
SPINNERET V2.0
This version is an improvement of the past version. in this
version we have implemented Mechanical and Electric Elements
. the idea is to be able to knit according to the heat reading
from the camera sensor attached to the body. a bucket of glue
was also added to this version as we want to create a hard
knitted structure after the head finishes the weaving according
to the movement developed in the code.
Body
'L' shaped body with circular hole for the spring in which the wire
wheel will be inserted in. the body is split into two pieces now.
Material: PLA
Size: 13.4 x 16.6 x 2 [cm]
Spring
this part locks in it the wire wheel. it attaches to the body in a
circular motion and locks on it.
Material: PLA
Size: Radius: 4.2 [cm]
Pipe House
the pipe house is supported with the body and holds the wire.
the pipe shape allows the cartridge to rotate and release the
wire.
Material: PLA
Size: Length: 8 [cm]
Glue Container
a container for the glue is attached to the body at its lowest
part. the attachment is done with a click mechanism.
Material: PLA
Size: 4.67 x 11.4 x 4.5 [cm]
Extortioner Pin
two pins that squeez the glue off the passing wire.
Material: teflon
Size: diameter: 7.6 [mm], Length: 5.6 [cm]
Pipe
Size: diameter: 6 [mm], Length: 7 [cm]
Pin
locking the different parts attached together.
Size: Length: 19 [mm]
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Applied Research Laboratory _ DMT I Desruptive Material Technology
Arduino
Spring
Camera
Sensor
Glue
Container
Wire Head
The new Version includes two important parts: Electric & Mechanical.
the electric part includes the first arduino board and a sensor camera. this complex
recieves the input which is the heat reading.
the mechanical part includes a spring for the wire. glue container and a wire knitting
head which can be detached. this complex creates the output which is the weaved
wire in the designed shape.
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The arduino board is attached to the left side of
the Spinneret. an exact shape of the arduino was
created on the body to attached it perfectly and
flawlessly, so it can provide electrivity to all the
left side of the body which is the Electrical part.
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the cartride rod part is composed of
two parts. one that attaches to the
body by clicking into it. the second
part which surrounds the teflon pipe is
locked with a pin.

Applied Research Laboratory _ DMT I Desruptive Material Technology
the spring locks into the body in
a circular motion after putting in
the wire wheel.
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PLANS
Right view
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Top View
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Left view
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Front View
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Conclusions
Version 2.0
1. Making the wire wheel more loose to reduce the tention that was
created.
2. Making the pipe house from either a stronger material or a more flexible
one.
Better
Connection
Change
Material
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CODE
General Code
Applied Research Laboratory _ DMT I Desruptive Material Technology
A
E
B
C
D
E - KUKA Simulator
D
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A - Scan Movement
B - Reading Port Arduino
C - List Recorder
D - Movement Generator
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Code 3.1
A
Code Objective:
This Code Is a part of all the codes that were tested in the Lab.
it creates the movement for the heat reading for the arduino.
Steps In Python Code:
1- Manually creating 4 offset points on the tested board .
2- arranging the points according to the movement.
3- Inserting all the points into the Kuka Program.
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Brep
Offseting the Control points
Sorting the points
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Code 3.2
A
E
B
C
D
D
Code Objective:
This Code is based on all the knoweldge that we've gathered from all the previous
codes. the objective is : measuring the data, sending to grasshopper, creating the
movement by code and making the movement precise in real time.
in this code we get a reading from the arduino system that is sent from the port
into Grasshopper. the reading is done every 1 sec.
Steps In Python Code:
1- receiving data from the reading : A,B,C,D,E,F,G
2- inserting the dara into the Python code that translates the readings into
different heights: 20,40,60,80 m"m.
3- becuase of the fact that the reading is done every 1 sec ,
the code was created to generate distance according to time.
explanation: if the route takes about 40 sec and has 4 stops then the generated
distance data in the code will be equal to 10 sec.
result: a list of 4 parameters will be generated.
4- inserting the generated data list into Python.
result: control points generated.
5- inserting control points into the Kuka program.
** the final form is controlled by the heating pads, that's why the generated shape
isn't controlled by the code but by the sensors.
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A
B
C
D
Input from Arduino
Python
Code
A
D
==
20
80
[mm]
[mm]
Transelating the inputs to distance
Diagonal line control points
40
20
20
66.6
Line
Building the control points
60 80
Surface
Building the control points
Different hiegths
40
20
73.6
80
Inserting to the string function
creating a spin around every point
Dividing the line to subpoints
60 80
Creating the hyperbulic surface
20
66.6
73.6
80
Projecting the line’s points to the surface
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Code 3.3
A
E
B
C
D
D
Code Objective:
This is the final test. this code is creatd based on all the knowledge that we've
gathered from all the previous code.
in this code we get a reading from the arduino system that is sent from the
port into Grasshopper. the reading is done every 1 sec.
Steps In Python Code:
1- receiving data from the reading : A,B,C,D,E,F,G
2- inserting the dara into the Python code that translates the readings into
different heights: 20,40,60,80 m"m.
3- becuase of the fact that the reading is done every 1 sec ,
the code was created to generate distance according to time.
explanation: if the route takes about 40 sec and has 4 stops then the generated
distance data in the code will be equal to 10 sec.
result: a list of 4 parameters will be generated.
4- inserting the generated data list into Python.
result: control points generated.
5- inserting control points into the Kuka program.
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A
B
C
D
Input from Arduino
Python
Code
A
D
==
20
80
[mm]
[mm]
Transelating the inputs to distance
40
20
60 80
Line
Building the control points
Surface
Building the control points
Different hiegths
40
20
60 80
Dividing the line to subpoints
Creating the hyperbulic surface
20
66.6
73.6
80
Projecting the line’s points to the surface
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Hyperbolic grid control points
40
36.6 23.6
20
40
36.6 23.6
20
46.6
66.6
46.6
66.6
53.6
73.6
53.6
73.6
60 80
66.6 73.6
Sorting the points in course A
60 80
66.6 73.6
Sorting the points in course B
40
36.6 23.6
20
40
36.6 23.6
20
46.6
66.6
46.6
66.6
53.6
73.6
53.6
73.6
60 80
66.6 73.6
Inserting to the string function
creating a spin around every point
60 80
66.6 73.6
Combain the courses
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Python Code
Steps In Python Code:
1- Grid Creation
2- elevating the 4 edge points of the grid according the A,B,C,D Reading.
3- creating a surface between these 4 points.
4- attaching the grid points to the created surface to be able to position the
Hyperbola Shape.
5- arrnaging the list of points according to the movement.
Starting Movement 1
6- destributing the points from movement 1 into 3 lists:
A- center points
B- starting points
C- finishing points
7- inserting all 3 lists into the spiral movement
result:
A- every center point from the list gets a spiral movement around it.
the spiral's charesceristics are generated automatically from the
function.
B- the spiral generats the control points in the list from 0 till the last
spiral.
Inserting the points into the KUKA program
result:
movement from one point to the other according the order in the list.
Explanation of the wrapping/ Spiral movement:
the direction of the start and end of the spiral movement is determined
automatically.
the function is designed in a way that the end point of the spiral is determined
by the number of the wraps which is determined by an if condition that is
decided by the relation between the starting points, the center points and the
end points.
the starting point of the spiral is determined by the if condition.
1- inserting the center point and deconstructing it.
2- creating a loop that duplicates the points according to the COS function.
https://sites.math.washington.edu/~ebekyel/Math126/Spiral.html
3- the radius and the distance between each spiral is determined Manually.
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Python
Code
{ X,Y,Z }
{ X,Y,Z }
{ X,Y,Z }
outPoint
centerPoint
inPoint
Inserting the points
from three different lists
extracting the X,Y,Z values of every point
{ X,Y,Z }
X = cos(t)
Y = sin(t)
Z = t
inserting the values to the spiral cos/sin function
defining an ‘if’ statement for defining the direction of the spiral
if if if
elif elif elif
elif
elif
elif
elif
elif
elif
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Electronic Scheme
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Hot Board/ Arduino
Opt A: Board with Aluminum heated plate
Components of the Hot Board:
- wooden board .
size: 48*48 cm
- 24 Heating Pads .
size each: 5*10 cm
- aluminum board.
size: 46*46 cm
- 49 nails of different heights.
Height: 12 cm
**the nails are distributed on the board evenly with
a 7 cm distance both horizontally and vertically.
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Code 1
Hot Board Arduino
#include
int pin1 = 3;
int pin2 = 4;
int pin3 = 5;
int pin4 = 6;
int pin5 = 7;
int pin6 = 8;
int pin7 = 9;
int pin8 = 10;
unsigned long previousMillis;
fl o a t Thousade= 1000;
fl o a t TimeSinceStart=0;
extern volatile unsigned long
timer0_millis;
unsigned long new_value = 0;
}
digitalWrite(pin5, LOW);
Serial.println(" 5 is LOW");
digitalWrite(pin6, LOW);
Serial.println(" 6 is LOW");
digitalWrite(pin7, LOW);
Serial.println(" 7 is LOW");
digitalWrite(pin8, LOW);
Serial.println(" 8 is LOW");
void loop() {
unsigned long currentMillis =
millis(); // grab current time
void setup() {
Serial.begin(115200);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
digitalWrite(pin1, LOW);
Serial.println("1 is LOW");
digitalWrite(pin2, LOW);
Serial.println(" 2 is LOW");
digitalWrite(pin3, LOW);
Serial.println(" 3 is LOW");
digitalWrite(pin4, LOW);
Serial.println(" 4 is LOW");
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Hot Board/ Arduino
Opt B: Board with heated nais
Components of the Hot Board:
- 2 wooden boards .
size: 48*48 cm
- 24 Heating Pads .
size each: 5*10 cm
- 49 Aluminum bases for the nails .
size: 3*3 cm
- 49 nails of different heights.
Height: 12 cm
**the nails are distributed on the board evenly with
a 7 cm distance both horizontally and vertically.
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// THIS IS FOR Number 1 RELAY / PAD////////////////////////////////////////
if ((unsigned long)(currentMillis - previousMillis) >= 25*Thousade &&
(unsigned long)(currentMillis - previousMillis) < 205*Thousade) {
digitalWrite(pin1, HIGH);
Serial.println("Pin 1 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 205*Thousade &&
(unsigned long)(currentMillis - previousMillis) < 235*Thousade) {
digitalWrite(pin1, LOW);
Serial.println("Pin 1 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 235*Thousade &&
(unsigned long)(currentMillis - previousMillis) < 355*Thousade) {
digitalWrite(pin1, HIGH);
Serial.println("Pin 1 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 355*Thousade
&& (unsigned long)(currentMillis - previousMillis) < 385*Thousade) {
digitalWrite(pin1, LOW);
Serial.println("Pin 1 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
///////////////////////////////////////////////////////////////////////////
if ((unsigned long)(currentMillis- previousMillis) >= 385*Thousade)
{
setMillis(0);
}
Serial.print("Time Since Beggining Of Loop is : ");
Serial.println(currentMillis/Thousade);
}
delay(500);
void setMillis(unsigned long new_millis){
uint8_t oldSREG = SREG;
cli();
timer0_millis = new_millis;
SREG = oldSREG;
}
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Arduino Board
Applied Research Laboratory _ DMT I Desruptive Material Technology
6,2
1,1
68,6
50,8
3,3
8,9
53,3
12
9,6
3,2 (4x)
4,7
27,9
15,2
1,8
51,9
74,8
14
10,9
1,6
The Aruino Board That Was Used Is Arduino Uno
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Code 2
Hot Board Arduino
#include
#include
GridEYE grideye;
void setup() {
// Start your preferred I2C object
Wire.begin();
// Library assumes "Wire" for I2C but you can pass something else with begin()
if you like
grideye.begin();
// Pour a bowl of serial
Serial.begin(115200);
}
void loop() {
// variables to store temperature values
fl o a t testPixelValue = 0;
fl o a t hotPixelValue = 0;
int hotPixelIndex = 0;
// for each of the 64 pixels, record the temperature and compare it to the
// hottest pixel that we've tested. If it's hotter, that becomes the new
// king of the hill and its index is recorded. At the end of the loop, we
// should have the index and temperature of the hottest pixel in the frame
long Temp =(grideye.getPixelTemperature(28)+grideye.
getPixelTemperature(29)+grideye.getPixelTemperature(36)+grideye.
getPixelTemperature(37))/4;
// you need to delete this three lines
Serial.print("Center"); // 1
Serial.print(Temp); //2
Serial.println("C"); //3
}
if (Temp >= 20 && Temp < 25 ){
Serial.println("A");
}
if (Temp >= 25 && Temp < 30 ){
Serial.println("B");
}
if (Temp >= 30 && Temp < 35 ){
Serial.println("C");
}
if (Temp >= 35 && Temp < 40 ){
Serial.println("D");
}
if (Temp >= 40 && Temp < 45 ){
Serial.println("E");
}
if (Temp >=45 ){
Serial.println("F");
}
if (Temp

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Code 1
Connection Between Heat Reading Camera And Grasshopper
#include
#include
GridEYE grideye;
void setup() {
// Start your preferred I2C object
Wire.begin();
// Library assumes "Wire" for I2C but you can pass something else with begin()
if you like
grideye.begin();
// Pour a bowl of serial
Serial.begin(115200);
}
void loop() {
// variables to store temperature values
fl o a t testPixelValue = 0;
fl o a t hotPixelValue = 0;
int hotPixelIndex = 0;
// for each of the 64 pixels, record the temperature and compare it to the
// hottest pixel that we've tested. If it's hotter, that becomes the new
// king of the hill and its index is recorded. At the end of the loop, we
// should have the index and temperature of the hottest pixel in the frame
long Temp =(grideye.getPixelTemperature(28)+grideye.
getPixelTemperature(29)+grideye.getPixelTemperature(36)+grideye.
getPixelTemperature(37))/4;
// you need to delete this three lines
// Serial.print("Center"); // 1
// Serial.print(Temp); //2
// Serial.println("C"); //3
if (Temp >= 20 && Temp < 25 ){
Serial.println("A");
}
if (Temp >= 25 && Temp < 30 ){
Serial.println("B");
}
if (Temp >= 30 && Temp < 35 ){
Serial.println("C");
}
if (Temp >= 35 && Temp < 40 ){
Serial.println("D");
}
if (Temp >= 40 && Temp < 45 ){
Serial.println("E");
}
if (Temp >=45 ){
Serial.println("F");
}
if (Temp

Applied Research Laboratory _ DMT I Desruptive Material Technology
Arduino Control Board Which Controls The
Heating Pads Conntected In The Wooden Board
With The screws.
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Code 2
Temperature Reading
int pin1 = 3;
int pin2 = 4;
int pin3 = 5;
int pin4 = 6;
int pin5 = 7;
int pin6 = 8;
int pin7 = 9;
int pin8 = 10;
void setup()
{
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
digitalWrite(pin1, LOW);
digitalWrite(pin2, LOW);
digitalWrite(pin3, HIGH);
digitalWrite(pin4, HIGH);
digitalWrite(pin5, HIGH);
digitalWrite(pin6, HIGH);
digitalWrite(pin7, HIGH);
digitalWrite(pin8, HIGH);
}
void loop()
{
}
LOW = ON
HIGH = OFF
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Control Board
The Control board was desgined with special attachment to the screws baord. this
attachment allows inserting each board like a drawr into the control board and
replacing it when needed.
Relay 3
Arduino Uno
Relay 6
Relay 2
Matrix Bread Board Arduino
Relay 5
Relay 1
USB splitter
Relay 4
Relay - Turns on and off the heating pads according to the given times.
- They connect to the USB which connects them to electricity.
- They Connect to the Arduino Uno and The Matrix.
Heating Pads - each pad is connected by 1 cable to 1 relay.
- each pad is connected by another cable to the USB port.
Control Board - connected to 1 electric port that is connected to the matrix.
- connected to another electric port that is connected the USB spliter.
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Code 3
Hyperbolic Shape
Applied Research Laboratory _ DMT I Desruptive Material Technology
#include
int pin1 = 3;
int pin2 = 4;
int pin3 = 5;
int pin4 = 6;
int pin5 = 7;
int pin6 = 8;
int pin7 = 9;
int pin8 = 10;
unsigned long previousMillis;
fl o a t Thousade= 1000;
fl o a t TimeSinceStart=0;
extern volatile unsigned long timer0_millis;
unsigned long new_value = 0;
void setup() {
Serial.begin(115200);
pinMode(3, OUTPUT);
pinMode(4, OUTPUT);
pinMode(5, OUTPUT);
pinMode(6, OUTPUT);
pinMode(7, OUTPUT);
pinMode(8, OUTPUT);
pinMode(9, OUTPUT);
pinMode(10, OUTPUT);
digitalWrite(pin1, LOW);
Serial.println("1 is LOW");
digitalWrite(pin2, LOW);
Serial.println(" 2 is LOW");
digitalWrite(pin3, LOW);
Serial.println(" 3 is LOW");
digitalWrite(pin4, LOW);
Serial.println(" 4 is LOW");
digitalWrite(pin5, LOW);
Serial.println(" 5 is LOW");
digitalWrite(pin6, LOW);
Serial.println(" 6 is LOW");
digitalWrite(pin7, LOW);
Serial.println(" 7 is LOW");
digitalWrite(pin8, LOW);
Serial.println(" 8 is LOW");
}
void loop()
{
unsigned long currentMillis = millis(); // grab current time
unsigned long previousMillis = millis(); // grab current time
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// THIS IS FOR Number 1 RELAY / PAD///////////////////////////////////////////////
///////////////////////////////
if ((unsigned long)(currentMillis - previousMillis) >= 25*Thousade && (unsigned
long)(currentMillis - previousMillis) < 205*Thousade) {
digitalWrite(pin1, HIGH);
Serial.println("Pin 1 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 205*Thousade && (unsigned
long)(currentMillis - previousMillis) < 235*Thousade) {
digitalWrite(pin1, LOW);
Serial.println("Pin 1 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 235*Thousade && (unsigned
long)(currentMillis - previousMillis) < 355*Thousade) {
digitalWrite(pin1, HIGH);
Serial.println("Pin 1 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 355*Thousade &&
(unsigned long)(currentMillis - previousMillis) < 385*Thousade) {
digitalWrite(pin1, LOW);
Serial.println("Pin 1 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
// THIS IS FOR Number 2 RELAY / PAD//////////////////////////////////////////////
if ((unsigned long)(currentMillis - previousMillis) >= 5*Thousade && (unsigned
long)(currentMillis - previousMillis) < 25*Thousade) {
digitalWrite(pin2, HIGH);
Serial.println("Pin 2 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 25*Thousade && (unsigned
long)(currentMillis - previousMillis) < 335*Thousade) {
digitalWrite(pin2, LOW);
Serial.println("Pin 2 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 335*Thousade && (unsigned
long)(currentMillis - previousMillis) < 385*Thousade) {
digitalWrite(pin2, HIGH);
Serial.println("Pin 2 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
// THIS IS FOR Number 3 RELAY / PAD//////////////////////////////////////////////
if ((unsigned long)(currentMillis - previousMillis) >= 5*Thousade && (unsigned
long)(currentMillis - previousMillis) < 50*Thousade) {
digitalWrite(pin3, HIGH);
Serial.println("Pin 3 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
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if ((unsigned long)(currentMillis - previousMillis) >= 50*Thousade && (unsigned
long)(currentMillis - previousMillis) < 285*Thousade) {
digitalWrite(pin3, LOW);
Serial.println("Pin 3 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 285*Thousade && (unsigned
long)(currentMillis - previousMillis) < 385*Thousade) {
digitalWrite(pin3, HIGH);
Serial.println("Pin 3 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
// THIS IS FOR Number 4 RELAY / PAD///////////////////////////////////////////////
if ((unsigned long)(currentMillis - previousMillis) >= 5*Thousade && (unsigned
long)(currentMillis - previousMillis) < 25*Thousade) {
digitalWrite(pin4, HIGH);
Serial.println("Pin 4 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 25*Thousade && (unsigned
long)(currentMillis - previousMillis) < 200*Thousade) {
digitalWrite(pin4, LOW);
Serial.println("Pin 4 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 200*Thousade && (unsigned
long)(currentMillis - previousMillis) < 225*Thousade) {
digitalWrite(pin4, HIGH);
Serial.println("Pin 4 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 225*Thousade &&
(unsigned long)(currentMillis - previousMillis) < 385*Thousade) {
digitalWrite(pin4, LOW);
Serial.println("Pin 4 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
// THIS IS FOR Number 5 RELAY / PAD///////////////////////////////////////////////
if ((unsigned long)(currentMillis - previousMillis) >= 25*Thousade && (unsigned
long)(currentMillis - previousMillis) < 205*Thousade) {
digitalWrite(pin5, HIGH);
Serial.println("Pin 5 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 205*Thousade && (unsigned
long)(currentMillis - previousMillis) < 235*Thousade) {
digitalWrite(pin5, LOW);
Serial.println("Pin 5 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
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if ((unsigned long)(currentMillis - previousMillis) >= 235*Thousade && (unsigned
long)(currentMillis - previousMillis) < 355*Thousade) {
digitalWrite(pin5, HIGH);
Serial.println("Pin 5 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 355*Thousade &&
(unsigned long)(currentMillis - previousMillis) < 385*Thousade) {
digitalWrite(pin5, LOW);
Serial.println("Pin 5 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
// THIS IS FOR Number 6 RELAY / PAD///////////////////////////////////////////////
///////////////////////////////
if ((unsigned long)(currentMillis - previousMillis) >= 5*Thousade && (unsigned
long)(currentMillis - previousMillis) < 25*Thousade) {
digitalWrite(pin6, HIGH);
Serial.println("Pin 6 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 25*Thousade && (unsigned
long)(currentMillis - previousMillis) < 200*Thousade) {
digitalWrite(pin6, LOW);
Serial.println("Pin 6 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 200*Thousade && (unsigned
long)(currentMillis - previousMillis) < 225*Thousade) {
digitalWrite(pin6, HIGH);
Serial.println("Pin 6 is HIGH");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis - previousMillis) >= 225*Thousade &&
(unsigned long)(currentMillis - previousMillis) < 385*Thousade) {
digitalWrite(pin6, LOW);
Serial.println("Pin 6 is LOW");
unsigned long previousMillis = millis(); // grab current time
}
if ((unsigned long)(currentMillis- previousMillis) >= 385*Thousade)
{
setMillis(0);
}
Serial.print("Time Since Beggining Of Loop is : ");
Serial.println(currentMillis/Thousade);
delay(500);
}
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Lab Reports

Report num.1
Team
Yarden Elah , Kobi Laham Haochen , Maria Jarrous , Or Shetret
Date 12.12.2018
Movement Test V1.0
Testing the movement of the KUKA wrapping around screws in different heights and
radiuses
Location
Research Lab of Digital Architecture
Module Type (Input Receiver)
Wooden Board with 5 screws in different
heights.
Materials
Knitting wire
Module Type (Tool: Head V1.1)
P.L.A 3D printed Module combined with
metal elements.
Robot Information
Model
KUKA arm model KR6 - 10 R 900
Starting point
X = 136 , Y = 0 , Z = 12
A = 0 , B = 0 , C = 0
Tool num
15
94

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STEPS
1) Positioning of test board in accordance to the 3D Rhino Model and the KUKA arm.
2) Tightening the test board to the table with cleaves.
3) Bringing the KUKA head to the starting point (Manual).
4) Tying the wire around the first screw.
5) Starting the KUKA movement.
6) The robot will follow the path that is defined by the Grasshopper code.
7) The Spinneret will wrap the wire around the screws using a unique radius code.
8) Stopping the movement at the ending point (Manual).
9) Cutting the wire & Tying it around the ending point. (Manual – Last screw of the
motion)
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96

Conclutions:
1) Finding a method to calibrate the position of the screw so the robot will
know exectly the screws pisiton and height.
Suggested solutions:
* The Robot will mark the location of the screws before screwing.
* The screw's head will have a sensor that sends the cordinate of the point
and height.
2) The L shape of the SPINERRET tool is limiting the movment in the Z axis so
the maximum screw height can be 80 [mm].
Suggested solutions:
* Making a vertical head tool.
3) strengthening the tool's parts: Flange, Pipe house, Caritrage Rod's nuts.
Suggested solutions:
* For the parts that tend to rotate, adding to holding points that will prevent
the rotation.
* 3D printing all the parts togrther.
4) A mechanisem that streches the wire back so the wire will have mote
tension. the mechanism must act in a force that lower then 3 [kg] so the
robot still pull the wire from the Caritage.
Suggested solutions:
Applied Research Laboratory _ DMT I Desruptive Material Technology
* Using the Measure tape rolling mechanisem and adjusting it to the
SPINNERET
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Report num.2
Team
Yarden Elah , Kobi Laham Haochen , Maria Jarrous , Or Shetret
Date 16.1.2019
Movement Test V2.0
Testing the movement of the KUKA :
1- Reading the temperature of the chosen screws with the help of the temperature reading
camera attached to the improved module.
2- Creating 1 linear line wrapping around 4 screws after reading the different temperatures.
3- Creating Hyperbolic grid without glue.
Location
Research Lab of Digital Architecture
Module Type (Input Receiver)
- wooden Board with 4 screws in 1 line.
- 2 wooden board with 4*4 screws in grid.
grid size: 26.7*26.7 cm 2
Robot Information
Model
KUKA arm model KR6 - 10 R
900
Starting point
X = 136 , Y = 0 , Z = 12
A = 0 , B = 0 , C = 0
Tool num
15
Materials
Knitting white wire.
Module Type (Tool: Head V2.0)
P.L.A 3D printed improved Module.
Expectations
- performing the scan and reading 3 or
4 different temperatures.
- creating an inclined wire wrapping
around 3 nails.
- successfully creating a hyperbolic grid
weaved in two directions continuously.
Performing Temperature Reading
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Applied Research Laboratory _ DMT I Desruptive Material Technology
STEPS (for all 4 movements)
1) Positioning of test board in accordance to the 3D Rhino Model and the KUKA arm.
2) Tightening the test board to the table with cleaves.
3) Bringing the KUKA head to the starting point (Manual).
4) Tying the wire around the first screw.
5) Starting the KUKA movement.
6) The robot will follow the path that is defined by the Grasshopper code.
7) The Spinneret will wrap the wire around the screws using a unique radius code.
8) Stopping the movement at the ending point (Manual).
9) Cutting the wire & Tying it around the ending point. (Manual – Last screw of the
motion)
Hyperbolic Woven Grid
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Conclutions:
Summary:
the spinerret evenually broke in the last test, and the reason was that the
wire got too tensed which caused for the cartridge rod to break.
However, despite all thath, everything else worked and the weaving and
temperature reading was successful.
1) weakening the tention of the wire that is being weaved .
Suggested solutions:
* Making the wire wheel a bit more loose so that it will allow better spinning
and less pulling back.
2) strengthening the tool's parts: Pipe House and glue container.
Suggested solutions:
Applied Research Laboratory _ DMT I Desruptive Material Technology
* Making the House Pipe from a stronger material as it gets a big moment
from all tention that the wire gets.
* The glue container attachment was a bit loose there for matching between
the sizes of the female and male parts of the connection must be done.
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Preparation For Report num.3
Team
Yarden Elah , Kobi Laham Haochen , Maria Jarrous , Or Shetret
Date 16.1.2019
Extra Tests
more codes and materials were prepared for future use.
Movement Test V3.0
Testing the movement of the KUKA:
1- Creating a Flat Grid that wraps all the screws in the planned motion.
2- Creating the same grid that wraps all the screws but this time with incline regarding the
read temperatures.
3- Creating Hyperbolic grid with glue.
Location
Research Lab of Digital Architecture
Module Type (Input Receiver)
2 wooden boards with 4*4 screws in grid.
grid size: 26.7*26.7 cm 2
Materials
- Knitting white wire.
- Epoxy Glue combined with Super
glue.
Module Type (Tool: Head V2.0)
P.L.A 3D printed improved Module with
glue bucket.
Robot Information
Model
KUKA arm model KR6 - 10 R 900
Starting point
X = 136 , Y = 0 , Z = 12
A = 0 , B = 0 , C = 0
Tool num
15
Expectations
- weaving a whole flat grid.
- weaving an inclined grid which
demands control of some of the
heating pads.
- weaving the same hyperbolic grid
from the previous test but this time
with glue.
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Applied Research Laboratory _ DMT I Desruptive Material Technology
STEPS
1) Positioning of test board in accordance to the 3D Rhino Model and the KUKA arm.
2) Tightening the test board to the table with cleaves.
3) attaching the bucket filled with glue (Only for test with glue).
4) Bringing the KUKA head to the starting point (Manual).
5) Tying the wire around the first screw.
6) Starting the KUKA movement.
7) The robot will follow the path that is defined by the Grasshopper code.
8) The Spinneret will wrap the wire around the screws using a unique radius code.
9) Stopping the movement at the ending point (Manual).
10) Cutting the wire & Tying it around the ending point. (Manual – Last screw of the
motion).
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Part
III

Bibliography:
Applied Research Laboratory _ DMT I Desruptive Material Technology
1. Sheil,B(2012) Manufacturing the bespoke : Making and prototyping architecture. ed. Bob Sheil.
Chichester: John Wiley
2. Menges,A , Sheil B, Glynn R (2017) , Fabricate: Rethinking Design and Construction, London,
UCL Press. , pg. 179-293
3. Sabin E.J, Jones, P.L , LabStudio: Design Research Between Architecture and Biology, (London & New
York: Routledge Taylor and Francis, 2017).
4. Gramazio F. , Kohler M., Willmann J., (2014) THE ROBOTIC TOUCH, How Robots Change Architecture,
Zurich, Park Books.
5. Kieran, S. & Timberlake J. (2004). Refabricating Architecture. How Manufacturing Methodologies Are
Poised to Transform Building Construction, McGraw–Hill, New York
Web Resources:
http://www.robofold.com/
http://gramaziokohler.arch.ethz.ch/
http://www.robotsinarchitecture.org/membership
Publoications by Sigrid Brell-Cokcan and Johannes Braumann
http://www.robotsinarchitecture.org/robarch-publications
https://robodk.com/doc/en/Basic-Guide.html#Start
Karl Singline -Youtube
https://www.youtube.com/channel/UCH166BcWXSEYoTwiZGVLy3w
https://vimeo.com/robotsinarchitecture/videos
https://www.youtube.com/c/RoboDK3D/videos
https://sites.math.washington.edu/~ebekyel/Math126/Spiral.html
https://www.designindaba.com/videos/conference-talks/basia-dzaman-intersection-robotics-and-creativity
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REFERENCE
Elytra Filament Pavilion - Victoria & Albert Museum by;
University of Stuttgart
http://icd.uni-stuttgart.de/?p=16443
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REFERENCE
ICD/ITKE Research Pavilion by;
University of Stuttgart
http://icd.uni-stuttgart.de/?p=18905
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REFERENCE
KnitCandela - A flexibly formed thin concrete shell at MUAC by;
BRG
http://block.arch.ethz.ch/brg/project/knit-candela-muac-mexico-city
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TOOL INSPIRATION
The intersection of robotics and creativity by;
Basia Dzaman
https://www.designindaba.com/videos/conference-talks/basia-dzaman-intersection-robotics-andcreativity
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