Discrete Quasicrystal Assembly

The research presented in this paper proposes a bespoke digital machine-material system for architectural assembly. The research aims to contribute to the body of work in digital material systems and single-task construction and fabrication robotics. Specifically, the system proposes a digital material system based on the icosahedral quasicrystals accompanied with a bespoke assembling robot capable of locomotion along the material as well as manipulation of discrete material units. Through a set of locomotion and pick and place routines, the robotic system is capable of construction and reconfiguration of the material system. In proposing a digital machine-material system, the presented research argues for the development of design, fabrication, and robotics strategies wherein hardware, geometry, material, and software are developed in parallel in an interdependent co-design process. Such approach of considering parameters across the spectrum of design tasks allows to develop systems that are well suited for their specified application while maintaining minimum complexity and increasing accessibility of fabrication systems.