The available wood varied from unused branchs of cedars and cypress of a diameter from 9 to 18 cm. Since there were also different diameters and bends at each end, it was necessary to grasp the best approximate shape in order to know the core of the material. Thanks to the robot scanning tool, we could collect the coordinates at each position and therefore generate the timber model in Grasshopper/Kuka PRC and then be able to creae the robot path.


Because the timber branchs have different diameters at each extremety, it was necessary to parametrically design a joints that would adjust their lenght so the chainsaw could cut it correctly.


As part of our experimentation through Robot arm, we conducted few tests to change the physical properties of wood by Kerf Bending. By changing the depth and width of the incision, flexibility was implemented and tested on a hard material.

ロボットアームによる木材加工の新技術の実験として、Kerf Bendingによる木材の物性の変化の実験を行いました。切り込みの深さ、幅を変えることで、硬い材である木材に柔軟性を加えました。