Approximate Stability Analysis for Drystacked Structures

We introduce a fast approximate stability analysis into an automated dry stacking procedure. Evaluating structural stability is essential for any type of construction, but especially challenging in techniques where building elements remain distinct and do not use fasteners or adhesives. Due to the irregular shape of construction materials, autonomous agents have restricted knowledge of contact geometry, which makes existing analysis tools difficult to deploy. In this paper, a geometric safety factor called kern is used to estimate how much the contact interface can shrink and the structure still be feasible, where feasibility can be checked efficiently using linear programming. We validate the stability measure by comparing the proposed methods with a fully simulated shaking test in 2D. We also improve existing heuristics-based planning by adding the proposed measure into the assembly process.

Authors

• Yifang Liu
• Maíra Saboia da Silva
• Vivek Thangavelu
• Nils Napp

Keywords

• Stability analysis
• Force
• Friction
• Mathematical model
• Stacking
• Numerical stability
• Buildings
• Structural Stability
• Assembly Process
• Linear Programming
• Measure Of Stability
• Contact Interface
• Autonomous Agents
• Scaling Factor
• Rigid Body
• Penalty Function
• Static Analysis
• Contact Force
• Force Balance
• Changes In Geometry
• Normal Force
• Resultant Force
• Force Distribution
• Equilibrium Equations
• Static Equilibrium
• Physical Simulation
• Construction Techniques
• Object Dataset
• Static Friction
• 2D Case
• Masonry Structures