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    Title: 機械手臂技術及材料實驗於建築數位製造之應用
    Other Titles: Robot arm techniques and material experiments on the application of digital fabrication in architecture
    Authors: 盧彥臣;Lu, Yen-Cheng
    Contributors: 淡江大學建築學系碩士班
    陳珍誠;Chen, Chen-Cheng
    Keywords: 數位製造;參數化設計;機械手臂;建築設計;構築;Digital Fabrication;Parametric Design;Robot arm;Architectural design;Tectonic
    Date: 2015
    Issue Date: 2016-01-22 15:01:32 (UTC+8)
    Abstract: 建築的數位化由最初的二維平面繪圖延伸至三維物件的形態直接在電腦螢幕上的操作,建築設計與數位工具的運用方式有著極顯著的關聯性。而在過去的二十年中,無非是將數位建模軟體定位在視覺化處理或者是形態捕捉的一種工具,以往的建築設計的方式因為現今數位建築的發展與出現恩而產生了極大的改變;數位技術不再只是設計的工具而已,除了要面對電腦中虛擬的建築,更重要的是面對真實建構的建築。構築的技術包含結構的設計、細部設計在目前虛擬技術蓬勃發展的時代卻顯示出其有所不足。複雜的虛擬設計形體在面對其可建造性時,往往受限於技術的限制,原因是在設計時忽略了構造的邏輯性。自 1980 年代以後,六軸機械手臂已 經被廣泛地使用在汽車工業及航太工業,六軸機械手臂能直覺式的對於物件的操作與處理,將有助於數位建築 設計所產生複雜形體的建構。

    本研究主要以如何利用機械手臂離線編程軟體 Scorpion 來操作機械手臂,並應用於數位製造上。主要 分成兩個階段:第一階段以機械手臂操作及運用機器手臂的邏輯來做為研究的主軸。在 Grasshopper 參數化建 模軟體的環境之下,透過 Scorpion 來做為離線編程的操作基礎;初期發展過程中,使用不同的機械手臂移動模 式搭配訊號控制的方式來操作簡易案例,並搭配自製的機器手臂末端執行器來完成所設計的製程。在第二個階 段以機械手臂的運作邏輯來討論砌磚的結構行為,透過從機械手臂基礎路徑與動作的設計檢視物件磚牆由設計 到堆砌製造之間的流程規劃。

    在未來數位建築該面對的是該如何將建築設計建立在真實建構的基礎上,以此思考初步設計階段應予重視的構築策略。回到資訊層面來看數位建築,在此是將建築設計視為一種資訊傳遞與交換的行為,並將設計以至於建造的過程加以程序化;進而期盼可以更進一步分析不同的建造資訊,對於各種材料的構造行為具有全面的掌握。
    The digitalization of architecture has developed from the initial 2D graphical drawing to the 3D object operation directly on the computer now, showing that the architecture design is closely related to the application of digital tools. In the past two decades, the digital modeling software has been positioned as a tool for visual processing or motion capture. The traditional architecture design methods have changed a lot due to the development and rising of digital architecture, making the digital techniques no longer the tools for design only. Apart from facing the virtual architecture in computer, it is more crucial that we also have to face the physical architecture. The architecture techniques include the structure design and the detail design, which show deficiency in the era of rapid development of virtual technology. The complicated virtual design is often restricted to technology in terms of the constructability, since the logic of structure is often neglected. Ever since 1980s, the six-axis robot arm has been widely applied in automobile and aerospace industries, since it can operate and process the objects intuitively which will facilitate the construction of sophisticated structure established by the digital architecture design.

    This research mainly explores how to operate the robot arm with the offline programming software Scorpion and apply it in digital manufacturing. It is generally divided into two stages: the first is to take
    the operation and the logic of robot arm as the principal axis of the research. Under the circumstance of parametric modeling software Grasshopper, the offline programming is operated based on Scorpion. During the initial development, different motion modes of robot arm are used to perform simple cases assisted by signal control, and the self-made robot arm terminal operator is adopted to finish the designed process. At the second stage, it uses robot arms to stacking the structure of brickwork, and checks the workflow planning from the design to the construction via the design of the fundamental routes and motion of robot arms.

    As what the future digital architecture faces is how to build the architecture design on the basis of real construction, the principal construction strategy at the stage of initial design shall be considered. Viewing the digital architecture from the perspective of information, the architecture design is treated as a behavior of information transformation and exchange, which also shows the design and construction process in programs. It is expected to further analyze different construction information so that we can have a clear idea of the construction with different materials.
    Appears in Collections:[建築學系暨研究所] 學位論文

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