| 摘要: | 數位設計的歷程可以分成三個階段，分別是設計、製造以及構築，在設計及製造兩階段，設計者透過數位工具的幫助，能有效率的達成需求。而在最後的構築階段，複雜造型尺寸不一的單元元件設計，在模型製作或真實施工上都會耗費許多功夫在元件的製作與定位放樣上。因此經常必須使用耗費時間的手工與勞力才有辦法達成。本研究藉由機械手臂的應用，將有助於提高構築階段的建構效率。
本研究透過對機械手臂的運作方式研究，瞭解機械手臂的手部機構、運動機構與控制系統操作，並使用Rhinoceros的插件軟體Grasshopper讓設計者能以圖像化的方式做直覺的操作模擬，以減少程式設計的編輯部份。本研究將機械手臂應用類型歸納成三種：3D成型、製造加工、與構築，而本論文將著重在應用機械手臂於製造木構築的研究探討上。應用上主要分為二維與三維空間定位兩種構築方式，並透過參數化設計的方式對於此兩種構築方式做設計操作。在小比例模型階段，利用此兩種構築方式的建構原理來做設計並利用Grasshopper建構參數化模型與編寫製作機械手臂動作的流程操作機械手臂。最後則應用二維空間定位的方式加上構造與結構設計，設計一座1：1的木構展示亭，並利用機械手臂協助建構此木構展示亭。
參數化設計對於機械手臂而言，最大的意義不完全在於可調整的三維電腦模型，而是參數化背後所攜帶的數據，這些數據才是可驅動機械手臂作業的因素。因此藉由參數化設計做為機械手臂的溝通介面，使一般的使用者可以更直覺的使用，大幅降低了機械手臂的操作門檻。另外，機械手臂在應用上最大的優勢在於其多元與彈性，在面對不同的設計類型時，可透過末端執行器的設計及製作，做出相對應的構築回應。
The process of digital design can be divided into three stages, namely design, manufacturing and construction. In the design and manufacturing stages, the designer can achieve the design requirements efficiently through the help of digital tools. In the final construction stage, for the design of elements with complex features or different sizes, a lot of efforts need to be spent on the element production and positioning and setting-up in model production or actual construction. Therefore, time-consuming manual work is usually required to achieve the purpose. In this study, robotic fabrication was used to help improve the efficiency of construction.
Through the study of its operation, the robot arm’s mechanism, movement mechanism and control system are understood, and the plug-in software Grasshopper of Rhinoceros is used to allow the designer to use visualization to do intuitive simulation operations to reduce the effort of computer program. In this study, robotic fabrications are classified into three types which include 3D molding, manufacturing and construction. This research focuses on the applications of the robotic fabrication in the construction of timber structures. The applications are divided into two-dimensional and three-dimensional setting-up, and designs are carried out with these two construction methods through parametric design. In the stage of small-scale modeling, the construction principles of the mentioned two construction methods are used for the design, and Grasshopper is used to construct parametric models and control the robot arm movement in order to operate the robot arm. Finally, through two-dimensional setting-up and the construction and structure design, a 1:1 timber pavilion is designed and the robotic fabrication is used to help construct this timber pavilion.
For robotic fabrication, the largest impact of parametric design is not entirely on the adjustable three-dimensional computer model, but the computation of geometric data behind the parameters which are the driving force of the robot arm. Therefore, using parametric design as the robot arm’s communication interface can allow the general user to operate it more intuitively, and can significantly reduce the robot arm’s operating threshold. In addition, the biggest advantage of applying the robot arm lies in its diversity and flexibility. In the face of different design types, the robot arm can make the corresponding construction response through the end effector design and production. |
