Automated Nailing in Off-site Mass Timber Construction: Toward Robotic Assembly Solutions

Paolo Pancho Ramirez, Mauricio Arredondo, Rafiq Ahmad

Keywords: Mass timber, Off-site construction, Automated nailing, Robotic cell, Visual interface

TL;DR: This study demonstrates automated nailing in off-site mass timber assemblies using a robotic cell with a visual interface.

Abstract: Mass timber construction often involves repetitive and labour-intensive nailing tasks that limit efficiency and precision. This study presents a prototype robotic approach for automated nailing in off-site timber assemblies. The system integrates a KUKA KR250 industrial robot with a multi-tool combining a nail gun and grippers, and is experimentally validated on a six-stud configuration. A visual interface supports program generation by converting user-defined parameters into executable robot code. Experimental results demonstrate reliable execution of nailing operations with variable tool inclinations (–20° to +20°), confirming the feasibility of automating such processes. The findings highlight the potential of robotic solutions to reduce programming effort, improve repeatability, and support the development of reconfigurable manufacturing strategies for off-site mass timber construction.

Submission Number: 39