سيدسجاد افتخارزاده

Advancements in robotic and modular construction technologies have enabled the development of novel methods for the rapid and optimized assembly of complex structures. This research presents and eva‎luates a hybrid system composed of unmanned aerial vehicles (UAVs) and ground robots for the autonomous assembly of modular structures. The main objective is to propose a solution for constructing prefabricated structures in unconventional environments, such as remote areas, emergency scenarios, and even extraterrestrial settings. In this study, structural modules were designed based on the geometric form of truncated octahedra, equipped with interlocking magnetic joints to ensure fast and stable assembly. A magnetic gripper system was developed for UAVs to allow efficient pickup and placement of modules with minimal positioning accuracy requirements. Additionally, two types of ground robots were designed—one responsible for transporting modules to target locations, and the other functioning as a mobile charging station for UAVs. For module deployment, funicular shells were selected as the primary form, and a voxelization process was employed to subdivide them into cubic units suitable for modular arrangement. Furthermore, to construct a self-adaptive modular bridge, module arrangement was guided by a cellular automata algorithm, enabling high adaptability and flexibility under varying conditions. The results demonstrate that integrating UAVs and ground robots for modular assembly not only reduces construction time and enhances precision but also optimizes energy consumption and minimizes reliance on human labor. This system represents a significant step toward the advancement of autonomous construction for civil, infrastructural, and space-related applications.

ساخت رباتيك , ساخت مدولار , پهپاد , ربات زميني , ماژول خردمقياس

Small-Scale Module , On-Ground Robot , Drone , Modular Construction , Robotic Construction

Seyed Sajad Eftekharzadeh

Dr.Abbas Tarkashvand - Dr.Morteza Rahbar