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  • 學位論文

機械手臂於數位製造及構築之應用—以金屬加工為例

Applying Robot Arm for Digital Fabrication and Tectonic —Take Metalworking as an Example.

指導教授 : 陳珍誠
共同指導教授 : 柯純融(Chun-Jung Ko)

摘要


1980年代日本的建築行業開始投入機器人於建築建造領域中的研究,然而當時的應用仍帶有著現代主義中大量複製生產的影子。隨著CAD/CAM電腦輔助設計與製造技術、參數化建模(Parametric Modeling)、網際網路信息傳遞等科技發達,自2006年後陸續出現了許多將機械手臂應用於建築的案例,迎接客製化生產的時代來臨。機械手臂的通用性最適合執行客製化與具多功能性的任務,機械手臂可執行的工作性質與目標工件所接觸的「末端執行器(End-Effector)」設計息息相關,因此可達到一機多用的功能。今日,金屬加工的種類已日趨繁複,需對應至許多不同的設備,在此數位時代嘗試以金屬材料為主的機械手臂製造(Robotic Fabrication)並探討金屬的材料性(Materiality),是本研究的重要課題。 本研究主要步驟包括基礎建築機器人知識的建立、機器人離線編程(Robotic Off-line Programming)與機器人製造,研究內容如下: 1. 透過文獻回顧建立與機器人相關的知識,並整理金屬材料的加工方法,選擇適合後續研究操作的加工種類。 2. 依加工種類個別進行不同的機械手臂實際操作,分別為:加工環境設置、初步測試及進階操作等由淺入深的安排方式,並透過實際模型的製作確認加工方法是否成立。 3. 回顧研究操作中的加工經驗,並與傳統加工方法相比較,於最後建立數套機器人輔助製造的設計流程,以供後續研究發展使用。 本研究以參數化模型、離線編程嘗試機械手臂的金屬加工程序,並依加工種類分別進行模擬,製作成實際尺度的完成品後,建立多套機器人輔助製造的設計流程。期待本研究的完成能夠對於機器人建造於建築上的應用產生些想像,並對於未來這方面的研究者有些參考的價值。

並列摘要


In the 1980s, the architecture industry in Japan began investing heavily in robot research in field of building construction. At the time, architecture components were still produced by the modern mindset of mass repetitive manufacturing. As computer-aided drawing (CAD), computer-aided manufacture (CAM), parametric modeling, and internet developed; since 2006 we have seen more and more architecture projects that have taken advantage of robotic arms to build customized designs. Robotic fabrication is most commonly seen in cases that require a specialized design or highly complex usages. The application of the robot arm is greatly depended on the end-effector used by the target workpiece; therefore, we can achieve a machine that takes care of multiple purposes, or a multi-purpose machine. Today, the types of metal processing have gotten increasingly complex to the point where the material must adapt to various kinds of processing equipment. The main subject of study in this digital age is to explore the materiality of metal and use it as the primary material in robotic fabrication. The major phases of this research include a set-up of the architecture foundation for robotic intelligence, robotic offline programming, and robotic fabrication. The layout of the research is as follows: 1. Through literature reviews, establish a common robotic knowledge database while organizing a detailed list of the different types of metal processing procedures. This preliminary set up will allow us to choose the most suitable options for the next phase of the research. 2. By using the robotic arm, individual simulations will be conducted for each type of metal processing listed above. These simulations may include an installation of the processing environment, initial testing as well as advanced operation, all of which will be arranged through a gradual increase in overall difficulty. In addition, a 1:1 scale model will be produced at the completion of the research to confirm the validity of the metal processing. 3. By reviewing the knowledge gained from the metal processing simulation, and then comparing it with traditional metal processing methods, multiple robotic aided manufacturing design processes can be established for later research and development. This research aims to use parametric modelling and offline programming for robotic arms to assist with the metal processing procedure. In addition, each metal processing will undergo its own simulation in order to create a life size model. This finished product will ultimately help create and become the foundation for various applications of the robotic aided manufacturing process. Looking forward to the completion of this research and the impact it will bring for more creative applications of robotic fabrication in architecture. Hope that the results from this study will be a great source of reference and value for future researchers.

參考文獻


中文文獻
中文書籍
陸瀟恒(譯)(2013)。新興科技與設計(原作者:Michael Hensel, Achim Menges, Michael Weinstock)。北京:中國建築工業出版社。
袁烽、阿希姆‧門格斯、尼爾.里奇(2015)。建築機器人建造。上海:同 濟大學出版社。
中文論文

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