When using robots (KUKA QR30 and QR60 in this case) for fabrication, it is necessary to understand the robot morphospace.

 

Understanding the kinematics of robot fabrication provides a range of applications that can help develop novel construction techniques beneficial to architectural design.  This research involved the computational and theoretical understanding of Grasshopper's 'Kuka PRC' and the Bartlett plugin 'Robots' through a 'pick and place' sequence using a suction gripper and pneumatic gripper as end effectors.  Kuka PRC was used in detail to computationally and physically test toolpaths for various assemblies.

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