{"id":561,"date":"2025-08-24T00:27:55","date_gmt":"2025-08-24T04:27:55","guid":{"rendered":"https:\/\/tabeertariq.com\/?page_id=561"},"modified":"2025-09-12T13:12:41","modified_gmt":"2025-09-12T17:12:41","slug":"robotic-touch","status":"publish","type":"page","link":"https:\/\/tabeertariq.com\/?page_id=561","title":{"rendered":"Robotic touch"},"content":{"rendered":"\n<div style=\"height:31px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<blockquote class=\"wp-block-quote alignwide has-text-align-center is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">Simulating fibrous structures with robotic precision<\/p>\n<\/blockquote>\n\n\n\n<div style=\"height:42px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Challenge<\/h2>\n\n\n\n<blockquote class=\"wp-block-quote alignwide is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">The project revolves around creating a tool and framework of anchor points to weave a fibrous material using the robotic arm and rotating table. Ideally this will result in a lightweight form that can be part of an assembly making an occupiable space. This will involve testing of:&nbsp;<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Tool designs that focus on controlling tension and maneuverability around the frame and anchors.<\/li>\n\n\n\n<li>Multiple forms of frames leading to the most interesting and modular result.<\/li>\n\n\n\n<li>Different approaches to anchor points using hooks or bolts, finding what would most effectively work with the robots.<\/li>\n\n\n\n<li>Fibrous materials with different properties such as nylon string, yarn, or twine<\/li>\n<\/ul>\n<\/blockquote>\n\n\n\n<div style=\"height:35px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<figure class=\"wp-block-gallery alignwide has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img fetchpriority=\"high\" decoding=\"async\" width=\"787\" height=\"872\" data-id=\"674\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/ezgif.com-animated-gif-maker-3-1.gif\" alt=\"\" class=\"wp-image-674\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" width=\"912\" height=\"1024\" data-id=\"673\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG_2608-912x1024.jpg\" alt=\"\" class=\"wp-image-673\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG_2608-912x1024.jpg 912w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG_2608-267x300.jpg 267w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG_2608-768x863.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG_2608-1367x1536.jpg 1367w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG_2608-1823x2048.jpg 1823w\" sizes=\"(max-width: 912px) 100vw, 912px\" \/><\/figure>\n<\/figure>\n\n\n\n<div class=\"wp-block-group alignwide alignfull has-global-padding is-layout-constrained wp-block-group-is-layout-constrained\" style=\"margin-top:0;margin-bottom:0\">\n<div style=\"height:var(--wp--preset--spacing--20)\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div style=\"height:var(--wp--preset--spacing--20)\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n<\/div>\n\n\n\n<blockquote class=\"wp-block-quote alignwide is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">We tested whether a robot can simulate weaving logic to produce a taut, inhabitable fibrous column without resin or chemical hardening. The project used geomtrical anchors,&nbsp;<strong>robotic path planning<\/strong>,&nbsp;<strong>end\u2011effector tension<\/strong>, and&nbsp;<strong>rotation indexing<\/strong>&nbsp;into a single workflow. The core challenge was to maintain continuous thread tension while avoiding&nbsp;<strong>singularity<\/strong>, collisions, and maintaining the tolerance drift between digital paths and the physical frame.<\/p>\n<\/blockquote>\n\n\n\n<div style=\"height:24px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Context\/Rationale:<\/h2>\n\n\n\n<div class=\"wp-block-columns alignwide are-vertically-aligned-center is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image alignright size-large is-resized\"><img decoding=\"async\" width=\"1000\" height=\"707\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image6-1.png\" alt=\"\" class=\"wp-image-569\" style=\"width:601px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image6-1.png 1000w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image6-1-300x212.png 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image6-1-768x543.png 768w\" sizes=\"(max-width: 1000px) 100vw, 1000px\" \/><figcaption class=\"wp-element-caption\">Mobile robotic fabrication system for filament structures, Maria Yablonina, ICD Stuttgart, 2015<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"500\" height=\"1000\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image7-2.png\" alt=\"\" class=\"wp-image-571\" style=\"width:526px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image7-2.png 500w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image7-2-150x300.png 150w\" sizes=\"(max-width: 500px) 100vw, 500px\" \/><figcaption class=\"wp-element-caption\">BUGA Fibre Pavilion 2019, ICD Stuttgart<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:10px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading alignwide\">Relevance and importance:<\/h2>\n\n\n\n<blockquote class=\"wp-block-quote alignwide has-text-align-center is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"has-text-align-left wp-block-paragraph\">\u2022Utility in \u201cclean\u201d architecture (no chemical processes)<br>\u2022Lightweight components that could act as shading devices or structurally performative pieces<em> <\/em><\/p>\n<\/blockquote>\n\n\n\n<div style=\"height:24px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Implementation strategy:<\/h2>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Proper Tension of the thread<\/a><\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">To maintain the straight and firm shape of the model, giving a proper. tension of the thread is the most important. Without using resin, we should design not only the right frame and anchor but also the end of robot arm tool.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Undisturbed Path of robot<\/a><\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Considering the limitation of movement of the robot, we will design the path that is not disturbed by the robot itself. This path should be worked well with the turntable and supplier.<\/p>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:31px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Process: <\/h2>\n\n\n\n<div class=\"wp-block-group alignfull has-global-padding is-content-justification-center is-layout-constrained wp-block-group-is-layout-constrained\" style=\"margin-top:0;margin-bottom:0\">\n<div style=\"height:var(--wp--preset--spacing--20)\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-group alignwide is-layout-flow wp-block-group-is-layout-flow\">\n<figure class=\"wp-block-image aligncenter size-large is-resized wp-duotone-ffffff-292929-2\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-06-1024x576.jpg\" alt=\"\" class=\"wp-image-577\" style=\"object-fit:cover;width:889px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-06-1024x576.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-06-300x169.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-06-768x432.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-06-1536x864.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-06-2048x1153.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n\n<div style=\"height:var(--wp--preset--spacing--20)\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\">TEST:<\/h2>\n\n\n\n<div class=\"wp-block-group alignwide is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-0ded644e wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"840\" height=\"774\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image3.jpg\" alt=\"\" class=\"wp-image-580\" style=\"width:291px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image3.jpg 840w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image3-300x276.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image3-768x708.jpg 768w\" sizes=\"(max-width: 840px) 100vw, 840px\" \/><figcaption class=\"wp-element-caption\">End of arm tool iteration<\/figcaption><\/figure>\n\n\n\n<div class=\"wp-block-group is-layout-grid wp-container-core-group-is-layout-f804dc1d wp-block-group-is-layout-grid\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"580\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-580x1024.jpg\" alt=\"\" class=\"wp-image-581\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-580x1024.jpg 580w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-170x300.jpg 170w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-768x1355.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-870x1536.jpg 870w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16.jpg 1088w\" sizes=\"(max-width: 580px) 100vw, 580px\" \/><\/figure>\n<\/div>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"580\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-580x1024.jpg\" alt=\"\" class=\"wp-image-581\" style=\"width:156px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-580x1024.jpg 580w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-170x300.jpg 170w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-768x1355.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-870x1536.jpg 870w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16.jpg 1088w\" sizes=\"(max-width: 580px) 100vw, 580px\" \/><figcaption class=\"wp-element-caption\">string wrapping <\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image12-768x1024.jpg\" alt=\"\" class=\"wp-image-585\" style=\"width:209px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image12-768x1024.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image12-225x300.jpg 225w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image12.jpg 960w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><figcaption class=\"wp-element-caption\">Anchor option1<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image4-768x1024.jpg\" alt=\"\" class=\"wp-image-586\" style=\"width:212px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image4-768x1024.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image4-225x300.jpg 225w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image4.jpg 960w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><figcaption class=\"wp-element-caption\">Process mockup<\/figcaption><\/figure>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Design:<\/h2>\n\n\n\n<div style=\"height:2px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><em>Frame:<\/em><\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Whole image<\/strong>: <\/p>\n\n\n\n<div class=\"wp-block-group alignwide is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-0ded644e wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1476\" height=\"1260\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image1.jpg\" alt=\"\" class=\"wp-image-590\" style=\"width:286px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image1.jpg 1476w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image1-300x256.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image1-1024x874.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image1-768x656.jpg 768w\" sizes=\"(max-width: 1476px) 100vw, 1476px\" \/><\/figure>\n\n\n\n<div class=\"wp-block-group is-layout-grid wp-container-core-group-is-layout-f804dc1d wp-block-group-is-layout-grid\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"580\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-580x1024.jpg\" alt=\"\" class=\"wp-image-581\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-580x1024.jpg 580w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-170x300.jpg 170w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-768x1355.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16-870x1536.jpg 870w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image16.jpg 1088w\" sizes=\"(max-width: 580px) 100vw, 580px\" \/><\/figure>\n<\/div>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"596\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image2-596x1024.jpg\" alt=\"\" class=\"wp-image-591\" style=\"width:144px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image2-596x1024.jpg 596w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image2-175x300.jpg 175w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image2.jpg 768w\" sizes=\"(max-width: 596px) 100vw, 596px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"567\" height=\"566\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image9.png\" alt=\"\" class=\"wp-image-592\" style=\"width:251px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image9.png 567w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image9-300x300.png 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image9-150x150.png 150w\" sizes=\"(max-width: 567px) 100vw, 567px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"566\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image5-1024x566.jpg\" alt=\"\" class=\"wp-image-594\" style=\"width:460px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image5-1024x566.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image5-300x166.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image5-768x424.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image5-1536x849.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image5.jpg 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"791\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image10-791x1024.jpg\" alt=\"\" class=\"wp-image-595\" style=\"width:199px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image10-791x1024.jpg 791w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image10-232x300.jpg 232w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image10-768x994.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image10-1187x1536.jpg 1187w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image10.jpg 1236w\" sizes=\"(max-width: 791px) 100vw, 791px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Whole image<\/a><\/div>\n<\/div>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Designed the whole model and each unit. Aggregated 3 pieces of 5&#8242; height column-shaped models having a space to pass through.<\/li>\n\n\n\n<li>The aim was to connect these 3 columns together and support each on slits helping them to stand<\/li>\n<\/ol>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Unit Design<\/a><\/div>\n<\/div>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Each unit has a pentagon base plate on each side with hook for catching the threads. and the plates are fixed to each other with columns<\/li>\n<\/ol>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:51px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Process: Creation<\/a><\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Each Unit has a pentagon base plate. The base plates were produced with the assistance of the inc router, cutting the pieces from plywood as well as precisely drilling the holes for hooks to be inserted. The plates were also designed with cutouts to reduce weight as well as create a more appealing look.<\/p>\n\n\n\n<div style=\"height:83px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Process: Assembly<\/a><\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">The hooks are inserted and plates are fixed at a distance of 5ft from surface with 5 radially placed central columns. At this time, holes are added to the base plates to allow them to be attached to the rotating table.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-4dcbc966 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image42-768x1024.jpg\" alt=\"\" class=\"wp-image-603\" style=\"width:199px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image42-768x1024.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image42-225x300.jpg 225w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image42-1152x1536.jpg 1152w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image42-1536x2048.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image42.jpg 1875w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image43-768x1024.jpg\" alt=\"\" class=\"wp-image-604\" style=\"width:196px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image43-768x1024.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image43-225x300.jpg 225w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image43-1152x1536.jpg 1152w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image43-1536x2048.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image43.jpg 1875w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"1011\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image30-1024x1011.jpg\" alt=\"\" class=\"wp-image-605\" style=\"width:266px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image30-1024x1011.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image30-300x296.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image30-768x758.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image30.jpg 1309w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-4dcbc966 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image41-1-768x1024.jpg\" alt=\"\" class=\"wp-image-607\" style=\"width:199px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image41-1-768x1024.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image41-1-225x300.jpg 225w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image41-1-1152x1536.jpg 1152w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image41-1-1536x2048.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image41-1.jpg 1875w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image39-768x1024.jpg\" alt=\"\" class=\"wp-image-608\" style=\"width:196px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image39-768x1024.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image39-225x300.jpg 225w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image39-1152x1536.jpg 1152w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image39-1536x2048.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image39.jpg 1875w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image11-1024x768.jpg\" alt=\"\" class=\"wp-image-609\" style=\"width:353px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image11-1024x768.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image11-300x225.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image11-768x576.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image11-1536x1152.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image11.jpg 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Problem &amp; Solution<\/a><\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">During simulations we found out that robot was out of range so divided the weaving pattern into 2 portions of the column for easy accessibility.<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-group is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-53887e7f wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"526\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image13-1-1024x526.jpg\" alt=\"\" class=\"wp-image-615\" style=\"width:317px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image13-1-1024x526.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image13-1-300x154.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image13-1-768x394.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image13-1-1536x789.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image13-1.jpg 1566w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"921\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image15-1-921x1024.jpg\" alt=\"\" class=\"wp-image-616\" style=\"width:148px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image15-1-921x1024.jpg 921w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image15-1-270x300.jpg 270w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image15-1-768x854.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image15-1-1381x1536.jpg 1381w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image15-1-1841x2048.jpg 1841w\" sizes=\"(max-width: 921px) 100vw, 921px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"516\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image14-1024x516.jpg\" alt=\"\" class=\"wp-image-618\" style=\"width:327px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image14-1024x516.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image14-300x151.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image14-768x387.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image14-1536x775.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image14.jpg 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:59px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><em>Tool:<\/em><\/h2>\n\n\n\n<div style=\"height:9px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image20-1024x768.png\" alt=\"\" class=\"wp-image-621\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image20-1024x768.png 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image20-300x225.png 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image20-768x576.png 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image20.png 1190w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\"><strong>1st version:<br><\/strong>Received suggestions for improvements based on maintaining thread tension and thread feeding<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image23-1024x768.jpg\" alt=\"\" class=\"wp-image-623\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image23-1024x768.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image23-300x225.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image23-768x576.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image23-1536x1152.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image23.jpg 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\"><strong>2nd version: <br><\/strong>Made suggested changes and redesigned thread tension method and thread feeding mechanism. With a spring feeder shaped like a pen, we can set the exact location of the thread feeding.<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image19-1024x768.jpg\" alt=\"\" class=\"wp-image-622\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image19-1024x768.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image19-300x225.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image19-768x576.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image19-1536x1152.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image19.jpg 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\"><strong>2nd version: <br><\/strong>Initial tests showed that the amount of tension resulted in the spring being bent out of the intended TCP, losing the accuracy needed to reach targets.<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image21-1024x768.jpg\" alt=\"\" class=\"wp-image-624\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image21-1024x768.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image21-300x225.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image21-768x576.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image21-1536x1152.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image21.jpg 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\"><strong>3rd version: <br><\/strong>Completed final version of the end of arm tool. Testing showed that the spool holder and feed spring provided enough tension to eliminate slack, but not too much that it bent the spring out of place.<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image17-1024x768.jpg\" alt=\"\" class=\"wp-image-625\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image17-1024x768.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image17-300x225.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image17-768x576.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image17-1536x1152.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image17.jpg 1600w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\"><strong>3rd version:<br><\/strong>The spring feeder was set into a solid wood base to better maintain a constant TCP.<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:22px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\"><em>Movement:<\/em><\/h2>\n\n\n\n<div style=\"height:9px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Method<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Proper Tension<\/a><\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Connecting hooks at a long distance (vertical connection: farthest)<\/p>\n\n\n\n<div style=\"height:206px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Method<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Undisturbed Path<\/a><\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Robot path is configured, starting from the core and propagating outwards. From inner hook to outer hook. Separate layers of path from inside to outside<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-706343d8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1075\" height=\"1434\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image33-edited.jpg\" alt=\"\" class=\"wp-image-633\" style=\"width:187px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image33-edited.jpg 1075w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image33-edited-225x300.jpg 225w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image33-edited-768x1024.jpg 768w\" sizes=\"(max-width: 1075px) 100vw, 1075px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1075\" height=\"1434\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image25-edited.jpg\" alt=\"\" class=\"wp-image-634\" style=\"width:193px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image25-edited.jpg 1075w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image25-edited-225x300.jpg 225w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image25-edited-768x1024.jpg 768w\" sizes=\"(max-width: 1075px) 100vw, 1075px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1911\" height=\"1434\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image31-edited.jpg\" alt=\"\" class=\"wp-image-635\" style=\"width:349px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image31-edited.jpg 1911w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image31-edited-300x225.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image31-edited-1024x768.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image31-edited-768x576.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image31-edited-1536x1153.jpg 1536w\" sizes=\"(max-width: 1911px) 100vw, 1911px\" \/><figcaption class=\"wp-element-caption\"><strong>Proper Location and Direction<\/strong>: [Hook Direction] Face outside (bottom), upward (column)<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-706343d8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"956\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image28-1-1024x956.jpg\" alt=\"\" class=\"wp-image-637\" style=\"width:283px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image28-1-1024x956.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image28-1-300x280.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image28-1-768x717.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image28-1.jpg 1430w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image36-1024x768.jpg\" alt=\"\" class=\"wp-image-639\" style=\"width:353px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image36-1024x768.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image36-300x225.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image36-768x576.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image36-1536x1152.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image36-2048x1536.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><figcaption class=\"wp-element-caption\">Iteration: [Rotating Table] 72 degrees rotation<br> for each side<\/figcaption><\/figure>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:19px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Problem &amp; Solution<\/a><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Singularity<\/a><\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Weaving target points which were very close to the robot and the robot would reach in singularity in order to reach them so points were separated in 2 groups and their directions of planes were shifted and altered according to requirement.<\/p>\n\n\n\n<div class=\"wp-block-buttons is-layout-flex wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Exact Dimension<\/a><\/div>\n<\/div>\n\n\n\n<p class=\"wp-block-paragraph\">Digital Model and physical model have a slightly different dimension in cutting process. Even though we measured physical model and several points, it was hard to set exact location of the path. So, we completed it with human robot collaboration. The hooks can be changed in direction manually to adjust for robotic simulation paths<\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-group is-nowrap is-layout-flex wp-container-core-group-is-layout-706343d8 wp-block-group-is-layout-flex\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"650\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image29-1024x650.jpg\" alt=\"\" class=\"wp-image-643\" style=\"width:657px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image29-1024x650.jpg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image29-300x190.jpg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image29-768x487.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image29-1536x975.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image29-2048x1300.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:94px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-group alignwide is-content-justification-center is-nowrap is-layout-flex wp-container-core-group-is-layout-53887e7f wp-block-group-is-layout-flex\">\n<details class=\"wp-block-details is-layout-flow wp-block-details-is-layout-flow\"><summary>Matrix Breakdown:<\/summary>\n<ol class=\"wp-block-list\">\n<li><strong>Frame \/ Geometry<\/strong>: 5\u2032 column unit; CNC\u2011milled pentagonal base plates with weight\u2011reduction cutouts; hooks positioned per anchor map; 5 radial posts; table mount points.<\/li>\n\n\n\n<li><strong>Anchors<\/strong>: Hook orientation rules (faces out on base; faces up on column); spacing supports inside -&gt; outside layering; clearance for tool.<\/li>\n\n\n\n<li><strong>Material<\/strong>: Nylon\/yarn\/twine variants; target behavior minimal creep, consistent friction at hooks.<\/li>\n\n\n\n<li><strong>Robot Kinematics<\/strong>: Keep toolpaths&nbsp;<strong>singularity\u2011free<\/strong>; avoid self\u2011collision + frame collision; bake&nbsp;<strong>safety points<\/strong>&nbsp;and&nbsp;<strong>tolerance offsets<\/strong>&nbsp;into the path.<\/li>\n\n\n\n<li><strong>End\u2011Effector<\/strong>: Integrated spool + controlled feed;&nbsp;<strong>constant TCP<\/strong>&nbsp;under tension; spring\u2011assisted feeder to remove slack without bending out of TCP.<\/li>\n\n\n\n<li><strong>Turntable<\/strong>: 72\u00b0 index per segment; synchronize robot frames with table rotation; preserve thread continuity across rotations.<\/li>\n\n\n\n<li><strong>Digital -&gt; Physical Alignment<\/strong>: Compensate for fabrication tolerances; allow&nbsp;<strong>human\u2013robot collaboration<\/strong>&nbsp;(manual hook tweaks) when path deviates.<\/li>\n\n\n\n<li><strong>No Resin<\/strong>: Structure relies on continuous tension and layering density tool and sequence must sustain tautness at all times.<\/li>\n<\/ol>\n<\/details>\n\n\n\n<details class=\"wp-block-details is-layout-flow wp-block-details-is-layout-flow\"><summary>Features breakdown<\/summary>\n<ol class=\"wp-block-list\">\n<li><strong>End\u2011effector evolution<\/strong>: v1-&gt; v3 iterations (spool holder, pen\u2011style spring feeder, rigid base for TCP stability) to balance traction vs. compliance.<\/li>\n\n\n\n<li><strong>Path partitioning<\/strong>: Weaving split into two vertical zones to keep reach feasible and minimize near\u2011singularity postures.<\/li>\n\n\n\n<li><strong>Layering strategy<\/strong>: Inside -&gt; outside layering with long\u2011span vertical connections scheduled when the table is optimally indexed.<\/li>\n\n\n\n<li><strong>Rotational indexing<\/strong>: 72\u00b0 steps coordinate hook access and reduce cable wrap; maintains a clean, repeatable sequence.<\/li>\n\n\n\n<li><strong>Tension protocol<\/strong>: Feeder spring provides micro\u2011compliance; eliminates slack yet avoids over\u2011bending out of TCP.<\/li>\n\n\n\n<li><strong>Human\u2011in\u2011the\u2011loop<\/strong>: Adjustable hook orientation to reconcile small dimensional drift between CAD and the real frame.<\/li>\n<\/ol>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n<\/details>\n<\/div>\n\n\n\n<div style=\"height:68px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Product image: <\/h2>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"576\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG-0365-576x1024.jpg\" alt=\"\" class=\"wp-image-652\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG-0365-576x1024.jpg 576w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG-0365-169x300.jpg 169w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG-0365-768x1365.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG-0365-864x1536.jpg 864w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG-0365-1152x2048.jpg 1152w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/IMG-0365-scaled.jpg 1440w\" sizes=\"(max-width: 576px) 100vw, 576px\" \/><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image alignleft size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image38-1-768x1024.jpg\" alt=\"\" class=\"wp-image-654\" style=\"width:772px;height:auto\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image38-1-768x1024.jpg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image38-1-225x300.jpg 225w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image38-1-1152x1536.jpg 1152w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image38-1-1536x2048.jpg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image38-1.jpg 1875w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:92px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Simulation video: <\/h2>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe title=\"Robotic Touch\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/jK7zUPKEtwY?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<div style=\"height:100px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Code based workflow:<\/h2>\n\n\n\n<figure class=\"wp-block-gallery alignwide has-nested-images columns-default is-cropped wp-block-gallery-3 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"472\" data-id=\"646\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image40-1-1024x472.png\" alt=\"\" class=\"wp-image-646\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image40-1-1024x472.png 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image40-1-300x138.png 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image40-1-768x354.png 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image40-1-1536x708.png 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/image40-1-2048x944.png 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" data-id=\"649\" src=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-16-1024x576.jpeg\" alt=\"\" class=\"wp-image-649\" srcset=\"https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-16-1024x576.jpeg 1024w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-16-300x169.jpeg 300w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-16-768x432.jpeg 768w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-16-1536x864.jpeg 1536w, https:\/\/tabeertariq.com\/wp-content\/uploads\/2025\/08\/Untitled-1-16-2048x1152.jpeg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/figure>\n\n\n\n<div style=\"height:86px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading\">Insights:<\/h2>\n\n\n\n<blockquote class=\"wp-block-quote alignwide has-text-align-left is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"has-text-align-left wp-block-paragraph\">Some flexibility in the spring not only helps maintain the taut characteristic of the thread but also helps in weaving the trad to the hooks. The flexibility helps spring adjust to new target points quickly and efficiently.<em> <\/em><\/p>\n<\/blockquote>\n\n\n\n<div style=\"height:17px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<h2 class=\"wp-block-heading\">Challenges:<\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Frames took longer than expected to construct so in the end we were only able to complete one frame.<\/li>\n\n\n\n<li>Tool rigidity and ensuring that it did not hit the frame or hooks.<\/li>\n\n\n\n<li>Getting the angles just right to not hit the frame as well as not giving the robot singularity errors.<\/li>\n\n\n\n<li>Reconciling digital model and code with the irregularities of the physical frame.<\/li>\n<\/ol>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<h2 class=\"wp-block-heading\">Solution:<\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>Physical prototype<\/strong>: One 5\u2032 column unit successfully woven; continuous tension maintained without resin.<\/li>\n\n\n\n<li><strong>Tooling<\/strong>: Final end\u2011effector with spool + spring feeder stabilized TCP while eliminating slack.<\/li>\n\n\n\n<li><strong>Motion plan<\/strong>: Two\u2011zone strategy + 72\u00b0 indexing prevented singularities and minimized collisions.<\/li>\n\n\n\n<li><strong>Visual\/structural effect<\/strong>: Layered filament with graded density; clean long\u2011span ties establish global stiffness. a <strong>Digital System<\/strong>. Grasshopper facade generator that opens\/closes panels dynamically, visualized across locations and seasons.<\/li>\n<\/ol>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:62px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-5244ca47 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<h2 class=\"wp-block-heading\">Impact: <\/h2>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>Clean fabrication<\/strong>: No chemical consolidation; relies on path logic + tension \u2192 applicable to shading, shells, or partition systems.<\/li>\n\n\n\n<li><strong>Scalable system<\/strong>: Column units aggregate into occupiable fields; same logic ports to different anchor typologies (frames, rings, lattices).<\/li>\n\n\n\n<li><strong>Tool path intelligence<\/strong>: Shows how textile logics translate to robotic code\u2014useful for education and R&amp;D in architectural robotics.<\/li>\n\n\n\n<li><strong>Future work<\/strong>: Multi\u2011robot coordination; adaptive tension sensing; closed\u2011loop vision for on\u2011the\u2011fly tolerance correction.<\/li>\n<\/ol>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<h2 class=\"wp-block-heading\">Next steps:<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">The hypothetical next steps would be further refining the robot movements to have even more precision, as well as constructing more frames in order to link them together into a soft structure which can be occupied..<\/p>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:68px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<h2 class=\"wp-block-heading alignwide has-text-align-center\">Key Tech Stack<\/h2>\n\n\n\n<div class=\"wp-block-buttons alignwide is-content-justification-center is-layout-flex wp-container-core-buttons-is-layout-654000b9 wp-block-buttons-is-layout-flex\">\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">ABB Robotic arm<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Grasshopper<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">code-based robotic simulation<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">CNC fabrication<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">custom end-effector prototyping<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Human\u2013robot collaborative calibration<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">Material testing<\/a><\/div>\n\n\n\n<div class=\"wp-block-button\"><a class=\"wp-block-button__link wp-element-button\">parametric weaving logic<\/a><\/div>\n<\/div>\n\n\n\n<div style=\"height:14px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<hr class=\"wp-block-separator alignwide has-alpha-channel-opacity\"\/>\n\n\n\n<hr class=\"wp-block-separator alignwide has-alpha-channel-opacity\"\/>\n","protected":false},"excerpt":{"rendered":"<p>Simulating fibrous structures with robotic precision Challenge We tested whether a robot can simulate weaving logic to produce a taut, inhabitable fibrous column without resin or chemical hardening. The project used geomtrical anchors,&nbsp;robotic path planning,&nbsp;end\u2011effector tension, and&nbsp;rotation indexing&nbsp;into a single workflow. The core challenge was to maintain continuous thread tension while avoiding&nbsp;singularity, collisions, and maintaining [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":11,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-561","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/tabeertariq.com\/index.php?rest_route=\/wp\/v2\/pages\/561","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/tabeertariq.com\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/tabeertariq.com\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/tabeertariq.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/tabeertariq.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=561"}],"version-history":[{"count":61,"href":"https:\/\/tabeertariq.com\/index.php?rest_route=\/wp\/v2\/pages\/561\/revisions"}],"predecessor-version":[{"id":1182,"href":"https:\/\/tabeertariq.com\/index.php?rest_route=\/wp\/v2\/pages\/561\/revisions\/1182"}],"up":[{"embeddable":true,"href":"https:\/\/tabeertariq.com\/index.php?rest_route=\/wp\/v2\/pages\/11"}],"wp:attachment":[{"href":"https:\/\/tabeertariq.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=561"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}