Modular jig system and method for assembling rebar cage

A method for assembling a rebar cage, comprising:

• providing a robotic system having a first robot and second robot;
• a plurality of jig subcomponents and a plurality of rebar segments in a staging area, the jig subcomponents each comprising a jig attachment feature and a rebar retention feature, the rebar retention feature being configured to detachably receive rebar segments;
• and a fixture base, the first robot being arranged and disposed to independently retrieve and position jig subcomponents and rebar segments on the fixture base and the second robot is arranged and disposed to join rebar segments to form the rebar cage;
• providing an assembly plan for a configuration of the modular jig to the robotic system;
• directing at least one of the jig subcomponents to the fixture base with the first robot to detachably engage the jig subcomponent to the fixture base, to other jig subcomponents or both;
• repeatedly directing the jig subcomponents to the fixture base with the first robot until the jig subcomponents engaged to the fixture base, to other jig subcomponents or to both form the configuration of the modular jig;
• directing at least one of the rebar segments to the modular jig with the first robot and positioning the rebar segment to detachably engage the rebar retention feature of at least one jig subcomponent;
• repeatedly directing the rebar segment to the modular jig with the first robot until the rebar segments are positioned in a configuration that, when joined, form a rebar cage;
• and
• connecting the rebar segments together with the second robot to form a rebar cage.