In the face of climate change, it is essential to rethink how we build to reduce the environmental impact of the construction industry. Timber construction can be a solution to reduce the use of concrete or steel, whose manufacture emits much CO2. This paper proposes a method to reinterpret tenon and mortise joints for construction. Friction-based assemblies, particularly mortise and tenon wooden joints, have been studied for centuries in Asia and Europe and may offer promising constructive solutions, such as allowing disassembling rather than demolishing a structure. These assemblies can be complex; they initially required a great deal of craftsmanship, which robotics can now replace to manufacture and assemble them. Nevertheless, it is necessary to develop methods to produce these robotic joints. Our method uses non-sequential assemblies, which are by definition, opposed to sequential assemblies. An assembly is said to be sequential when the elements that compose it are assembled one after the other, in a defined order or not. For a non-sequential assembly, all the elements that compose it are in motion and assembled simultaneously. This assembly method has the particularity of being locked only by its kinematics, which makes it possible to easily (dis)assemble the elements by only knowing their motion. After an introduction and defining the terms and hypotheses of our research, we discuss the related word. In the fourth section, the developed method is explained. Then, we introduce the different parameters to control the assembly's design and kinematics. After that, we extend the previous method to the third dimension. Finally, a construction prototype demonstrates the method's efficiency.