A Framework for a Five-Axis Stylus for Design Fabrication

Gozen E.

37th Conference on Education-and-Research-in-Computer-Aided-Architectural-Design-in-Europe (eCAADe) / 23rd Conference of the Iberoamerican-Society-Digital-Graphics (SIGraDi), Porto, Portugal, 11 - 13 September 2019, pp.215-220 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • City: Porto
  • Country: Portugal
  • Page Numbers: pp.215-220
  • Istanbul Technical University Affiliated: Yes


This paper proposes a new workflow between design and fabrication phases through the introduction of a novel framework centered around a stylus that is tracked in real-time for five-axis by a single RGB-D camera. Often misconceived as a linear process, urgent reinterpretation of design and fabrication tools is discussed briefly. Similar to how industrial robots have become an enabler for fabrication process in the field of architecture and construction, the necessity for providing a similar tool that would reform the - "design" process is underlined. A generic stylus is proposed with interchangeable operations which allows for intuitive, non-obstructive grasp of the user serves as the physical avatar that transform into a virtual representation of a fabrication tool mounted on a six-axis industrial robot arm. User interaction with the apparatus is simulated for the user, and the user is notified of any errors as the interaction is translated for motion planning of a KUKA KR20-3 industrial robot.