The DiRT concept is demonstrated with two different types of robotic assembly tools: Robotic clamps that are capable of compressing lap joints together and robotic screwdrivers that are capable of pulling joints together while simultaneously installing a fastener. Each of which are suitable for different joint types. The assembly system also features an augmented robotic quick-changer that is capable of picking up and placing the DiRT tools to and from the timber structure. The number of tools and their choice depends on the design of the timber structure.

One important discovery is the quantification of deviation in the robotic system and the prefabricated timber parts. This allows for numerical estimation of tolerance and system reliability and give rise to technical solutions (i.e. alignment sensors and passive assembly guidance) and CAD solutions (i.e. deviation analysis during design phase).

The following images shows the pointed tip of the robotic screwdriver acting as passive guidance. If a chamfered hole is used, the allowable deviation is further increased.

The follwing images shows the robotic tool changer equipped with a docking camera for a close-loop control. An aruco marker is printed on the tool-side adapter. The choice of camera, lens, and marker size determine the allowable (correctable) deviation.