系統識別號 | U0002-0802202022591500 |
---|---|
DOI | 10.6846/TKU.2020.00168 |
論文名稱(中文) | 機器手臂實體切割術與製造的建築應用-以保利龍為材料的減法數位製造 |
論文名稱(英文) | The Application of Robotic Arm in Stereotomy and Architectural Constructions – A Subtraction Digital Fabrication based on Polystyrene Foam Material |
第三語言論文名稱 | |
校院名稱 | 淡江大學 |
系所名稱(中文) | 建築學系碩士班 |
系所名稱(英文) | Department of Architecture |
外國學位學校名稱 | |
外國學位學院名稱 | |
外國學位研究所名稱 | |
學年度 | 108 |
學期 | 1 |
出版年 | 109 |
研究生(中文) | 姚垠仲 |
研究生(英文) | Yaw Meng Hong |
學號 | 606365012 |
學位類別 | 碩士 |
語言別 | 英文 |
第二語言別 | |
口試日期 | 2020-01-07 |
論文頁數 | 208頁 |
口試委員 |
指導教授
-
陳珍誠(097016@mail.tku.edu.tw)
指導教授 - 柯純融(146736@mail.tku.edu.tw) 委員 - 陳宏銘 委員 - 張恭領 |
關鍵字(中) |
切石術 機器手臂製造 熱熔絲切割 形態找尋 側推性網狀結構分析 |
關鍵字(英) |
Stereotomy Robotic Fabrication Hot-wire Cutting Form Finding Thrust Network Analysis |
第三語言關鍵字 | |
學科別分類 | |
中文摘要 |
Stereotomy也被稱之為 “切石術” ,一種集合了關於石材特性和構造的理論以及實踐知識的技術,而這技術在現代建築中已被人們遺忘了很長的一段時間了。在古代建築中,傳統的實體切割術是一種需要長時間去實踐的藝術,並廣泛分佈於整個古代和中世紀的地中海地區。過去,實體切割術常被視為建築領域的經典學科,直到工業革命的崛起,建築材料的使用便已改成為鐵,鋼和混凝土。近年來,數位製造和參數化設計已開始被視為當代建築中的技術趨勢。經由這些技術,出現了數位實體切割術,此技術重新復興了將石材用作建築的結構元素。如今,在實體切割術領域裡已有一些研究嘗試將傳統的石材構造與新的製造方式,例如CNC和機器手臂相互結合。此結合開始顯示出了驚人的效果,這些效果也已開始在展覽中展示,原型化甚至開始被使用於建造。另外,在建築中機器手臂的應用也引起了設計師與建築師極大的興趣。這些機器手臂可被自定義或與特定某些任務的設備相結合,使其成為最近創新性建築探索的媒介。儘管許多研究人員與從業人員提出了機器手臂技術在建築實踐中的應用建議,但該領域仍處於起步階段,因此需要設計和建築研究人員進行進一步研究。 本研究討論了數位設計與製造相結合的實體切割術的設計探索,將研究內容分為五個部分。在第一部分中,通過文獻回顧,建立了基本的機器手臂知識,在其中制定了一套用於機器手臂保利龍切割的從設計到製造的基本過程。第二部分,將開發一系列原型設計,以討論通過機器手臂保利龍切割來製造複雜與定制設計的幾何形狀的經驗研究,同時關注模塊化元素和連接類型,這是自支撐結構的必要條件。在第三部分中,介紹了兩種不同尺寸的用於機器人保麗龍切割的末端執行器工具的製造過程,此新工具將為以後的設計研究提供更多的穩定性,靈活性和準確性。對於第四部分,本論文進一步討論了另外兩種方法,其中第一種是聯合製造法,此方法涉及兩個機器手臂來執行不同的任務,以研究這種複雜的製造方法與單個機器手臂相比的差異和局限性,第二種則是玻璃纖維增強聚合物(FRP)的應用,以研究數位實體切割術的其他潛在用途,例如假設工程,可用於生產輕巧和自由形式的FRP立面。在第五部分中,本論文討論了使用RhinoVAULT進行薄殼結構的設計探索,RhinoVAULT是一種基於侧推性網狀結構分析(TNA)形態找尋的數位設計工具,隨後基於此設計工具設計並製造了一座1:1的構築。 本研究最後討論了這些各種設計工具和減法切割方法以及由此產生的從設計到製造的工作流程,並提出了未來的工作建議。 |
英文摘要 |
Stereotomy that also known as “Cutting Stone” originated as a technique which gathered theoretical and practical knowledge about the properties and construction of stone materials which have been forgotten far long in current architecture. In ancient architecture, traditional stereotomy is an art that been practiced over a wide chronological span and widespread across the ancient and medieval Mediterranean. In the past, stereotomy was often regarded as a classical discipline in the architectural field. Until the rise of the Industrial Revolution, the use of building materials has changed to iron, steel, and concrete. Recent years, digital fabrication and parametric design have started to be seen as a technological tendency in contemporary architecture. From these techniques, came the Digital Stereotomy, a rescue of the use of stone as a structural element of construction. While nowadays there is some research in the field of stereotomy decided to try to combine traditional stone construction with new ways of production, like CNC’s and robotic arms. This combination is starting to show amazing results, which are being exposed in exhibitions, prototyped and even constructed. In addition, the use of the robotic arm in architecture has created considerable interest among designers and architects. The robotic arm enables coupled with custom or task-specific mounted devices and digital descriptions where these recently become the medium for innovative architectural explorations. While numerous researchers and practitioners have suggested robotics applications in architectural practice, this sector is still in its infancy and therefore requires further study by design and architectural researchers. This research discusses the design exploration of stereotomy architecture with the integration of digital design and fabrication. The paper presents the research findings into five parts. In the first part, through literature reviews, establish a basic robotic knowledge database where a fundamental design-to-fabrication process for robotic foam cutting is developed. The second part, a series of prototype designs will be developed to discuss empirical research into the manufacture of complex and custom-designed geometries by means of robotic foam cutting, focusing specifically on modular elements and joint typologies which are an essential condition for self-supporting structures. In the third part, the making process of two different sizes of end-effector tool for robotic foam cutting is presented where the new tools are to provide more stability, flexibility and accuracy for the later design research fabrication. For the fourth part, the paper further discusses two other methods in which the first is the conjoined fabrication method, involving two robotic arms to perform different tasks to research the differences and limitations of this complex fabrication method compared to the single robotic arm and the second is the application of fibreglass reinforced polymer (FRP), studying the other potential use of the digital stereotomy structures that could act as a falsework to produce lightweight and freeform FRP façade. In the fifth part, the paper discusses the design exploration of funicular shell structures by using RhinoVAULT, a form-finding digital design tool based on thrust network analysis (TNA) which later an interactive vault is designed and fabricated. The thesis concludes with a discussion on these various design tools and subtractive cutting methodologies as well as a resulting design-to-fabrication workflow and suggests future work. |
第三語言摘要 | |
論文目次 |
Table of Contents i List of Figures vi Chapter 1: Introduction 1 1.1 Design Motivations 1 1.1.1 Traditional Stereotomy Inspiration 1 1.1.2 Design Thinking of Parametric and Digital Manufacturing 4 1.1.3 The Potential and Influence of Robotic Arm in Architecture 6 1.1.4 Traditional Stone Material 8 1.1.5 The Revolution of Digital Age 10 1.2 Design Objectives 12 1.2.1 Materials and Construction Methods 12 1.2.2 Research of Robotic Arm Cutting Method 12 1.2.3 Customize and Enhance the Cutting Tool for Robotic Arm 13 1.2.4 Design and Construct a Vault 13 1.3 Relative Fields 14 1.3.1 Digital Fabrication 14 1.3.2 Stone Masonry 14 1.3.3 Graphic Statics 14 1.4 Research Process 15 1.5 Research Findings 16 Chapter 2: Literature Reviews 17 2.1 Stone Masonry 17 2.1.1 Introduction 17 2.1.2 Architect and Organization 18 2.1.2.1 Block Research Group 18 2.1.3 Case Studies 19 2.1.3.1 The Colosseum in Rome, Italy 19 2.1.3.2 Armadillo Vault in Venice, Italy 21 2.1.4 Books and Web Articles 23 2.1.4.1 Sustainability of Construction Materials 23 2.2 Stereotomy 24 2.2.1 Introduction 24 2.2.2 Architect and Organization 26 2.2.2.1 New Fundamental Research Group 26 2.2.3 Case Studies 27 2.2.3.1 HyparGate 27 2.2.3.2 RDM Vault 28 2.2.4 Books and Web Articles 29 2.2.4.1 Architectural Stone Elements: Research, Design and Fabrication 29 2.2.4.2 Stereotomy: Stone Architecture and New Research 31 2.3 Robotic Architecture 32 2.3.1 Introduction 32 2.3.2 Architect and Organization 34 2.3.2.1 Gramazio Kohler Research 34 2.3.2.2 Odico 35 2.3.3 Case Studies 37 2.3.3.1 Design of Robotic Fabricated High Rises 37 2.3.4 Books and Web Articles 38 2.3.4.1 The Robotic Touch – How Robots Change Architecture 38 2.3.4.2 Towards a Robotic Architecture 40 2.4 Robotic System 41 2.4.1 Type of Robotic System 41 2.4.1.1 Industrial Robot 41 2.4.1.2 Collaborative Robot 42 2.4.2 Robotic Manufacture Brand 43 2.4.2.1 ABB 43 2.4.2.2 KUKA 43 2.4.2.3 Universal Robots 44 2.4.3 Hardware Overview 45 2.4.3.1 Robot Arm 45 2.4.3.2 End Effector 46 2.4.3.3 Teaching Pendant 49 2.4.3.4 Control Box 50 2.4.3.5 Rotating Table 52 2.4.3.6 Rail Track 52 2.4.4 Robot Programming Methods 53 2.4.4.1 Introduction 53 2.4.4.2 Teaching Pendant 53 2.4.4.3 Teaching by Demonstration (TbD) 54 2.4.4.4 Offline Programming (OLP) 55 2.4.5 Robots Kinematics 59 2.4.5.1 Introduction 59 2.4.5.2 Forward Kinematics (FK) 59 2.4.5.3 Inverse Kinematics 60 2.4.5.4 Singularity 60 2.5 Chapter Conclusion 62 Chapter 3: Initial Design 64 3.1 Fabrication Methods 64 3.1.1 Hot-Wire Cutting 65 3.1.2 Materials 65 3.1.3 Tool Path Development 66 3.1.4 Tool Calibration 68 3.1.5 Robotic Arm Programming Script 69 3.1.6 Digital Fabrication Process 72 3.2 Preliminary Work 73 3.2.1 Environment Setting 73 3.2.2 End Effector Tool and Auxiliary Equipment 74 3.3 Prototype Design Series 76 3.3.1 Surface Patterns 77 3.3.1.1 Two-Parabola Surface 77 3.3.1.2 Jitter Surface 79 3.3.1.3 Sine Wave Surface 80 3.3.1.4 Hyperbolic Paraboloid 81 3.3.1.5 Shell Pattern Surface 82 3.3.1.6 Knurled Surface 83 3.3.2 Modular Blocks 84 3.3.2.1 2D Geometry Pattern Designs 84 3.3.2.2 Spatializing 2D Geometry Patterns 87 3.3.2.3 Fabrication Process and Final Model 90 3.3.3 Columns 94 3.3.3.1 Modular Column 94 3.3.3.2 Irregular Column 95 3.3.4 Vault 98 3.4 Chapter Conclusion 102 3.4.1 Overall Review 102 3.4.2 Next Steps 108 Chapter 4: Robotic Arm Hot-Wire Cutting Tool System Design 109 4.1 Hot-Wire Cutting Tool System 109 4.1.1 Hot-Wire Cutting Tool System Configuration 109 4.1.2 Existing Hot-Wire Cutting Tool System 110 4.1.3 New Hot-Wire Cutting Tool System 111 4.1.3.1 Hot-Wire Cutting Tools 111 4.1.3.2 Electrical Power Supply 117 4.2 Chapter Conclusion 121 4.2.1 Overall Review 121 Chapter 5: Experimental Attempt of Robotic Arm in Stereotomy 122 5.1 Multi-Robot Systems 122 5.1.1 Environment Setting 122 5.1.2 End Effector Tool and Auxiliary Equipment 123 5.1.3 Robotic Arm Programming Script 124 5.1.4 Fabrication Process and Final Outcome 127 5.1.5 Issues and Reviews 129 5.2 Fibre-Reinforced Polymer (FRP) 130 5.2.1 Introduction 130 5.2.2 Design Description 131 5.2.3 Prototype 131 5.2.3.1 FRP Application Process and Final Outcome 132 5.2.3.2 Issues and Reviews 134 5.2.4 FRP Vault 134 5.2.4.1 Environment Setting and Auxiliary Equipment 134 5.2.4.2 Design, Fabrication and Assembly Process 135 5.2.4.3 FRP Application Process and Final Outcome 137 5.2.4.4 Issues and Reviews 141 5.3 Chapter Conclusion 142 5.3.1 Overall Review 142 5.3.2 Next Steps 143 Chapter 6: Interactive Vault Design 144 6.1 Design Description 144 6.2 RhinoVAULT 144 6.2.1 Introduction 144 6.2.2 Design Workflow 146 6.2.3 RV Interface 148 6.3 Digital Design Process 149 6.3.1 Site Location and Analysis 149 6.3.2 Form Finding Process 150 6.3.3 Funicular Vault Thickness Scripting 155 6.3.4 Design Optimization 156 6.4 Scale Model 160 6.4.1 3D Printing 161 6.4.2 Falsework Design 162 6.4.3 Assembly Process 163 6.5 Digital Fabrication Process 166 6.5.1 Environment Setting and Auxiliary Equipment 166 6.5.2 Robotic Arm Programming Script 169 6.5.3 Fabrication and Assembly Process 172 6.6 Chapter Conclusion 187 6.6.1 Overall Review 187 Chapter 7: Conclusions 190 7.1 Overall Review 190 7.2 Further Research Development and Recommendations 191 7.2.1 Hardware Recommendations 191 7.2.2 Software Recommendations 192 References 193 Appendix 195 Figure 1.1 Freeform Casting - Robot-Aided Hot-Wire Cutting Formwork Research 2 Figure 1.2 Heydar Aliyev Center by Zaha Hadid Architects 4 Figure 1.3 The First Industrial Programmable Robotic Arm "Unimate” 6 Figure 1.4 Winery Gantenbein by Gramazio & Kohler + Bearth & Deplazes Architekten 7 Figure 1.5 Le Corbusier Domino Frame 8 Figure 1.6 The History of CAD 10 Figure 1.7 Existing Hot Wire Foam Cutting Tool 13 Figure 1.8 Research Process Diagram 15 Figure 2.1 Notre Dame Cathedral 17 Figure 2.2 The Reciprocal Diagrams of RhinoVAULT 18 Figure 2.3 The Colosseum in Rome, Italy 19 Figure 2.4 Doric Column on the First Floor (Left), Ionic Columns on the Second Floor (Middle), Corinthian Columns on the Third Floor (Right) 19 Figure 2.5 The Support of the Velarium 20 Figure 2.6 Types of Vaults 20 Figure 2.7 The Armadillo Vault 21 Figure 2.8 Waterjet Cutting for Stone (Left), Vault Assembly (Right) 21 Figure 2.9 An Overview of Early Design Options Sketched Digitally with RhinoVAULT 22 Figure 2.10 Sustainability of Construction Materials 23 Figure 2.11 Stone Cutting 24 Figure 2.12 Perspective of the Trompe at Anet 25 Figure 2.13 The Flux Vault (Left), The Installation Process (Middle), Design Process (Right) 26 Figure 2.14 HyparGate at the Troyes, France 27 Figure 2.15 Robotic Fabrication (Diamond Wire Cutting and Milling) 27 Figure 2.16 RDM Vault 28 Figure 2.17 Diagram of Tool Path 28 Figure 2.18 Architectural Stone Elements: Research, Design and Fabrication 29 Figure 2.19 Stereotomy: Stone Architecture and New Research 31 Figure 2.20 Process Framework: Role of Robotics in Architecture. 33 Figure 2.21 Robotic Fabrication Lab, Institute for Technology in Architecture, WTH Zurich 35 Figure 2.22 Robotic Hot-Wire Cutting with a Single Curved Surface 36 Figure 2.23 Robotic Hot-Blade Cutting with Double Curved Surface 36 Figure 2.24 A Multitude of Different Models Robotically Fabricated in the Design Research Studio in Singapore 37 Figure 2.25 The Robotic Touch - How Robots Change Architecture 38 Figure 2.26 Towards a Robotic Architecture 40 Figure 2.27 Six Types of Industrial Robots 42 Figure 2.28 KUKA LBR IIWA 14 R820 42 Figure 2.29 ABB 43 Figure 2.30 KUKA 43 Figure 2.31 Universal Robots 44 Figure 2.32 ABB IRB 6620 (Left), Kuka Robot K-1000 (Right) 44 Figure 2.33 UR5, 10 & 15 44 Figure 2.34 Robotic Arm Overview 45 Figure 2.35 The Joints of a Six Axis Universal-Robot 45 Figure 2.36 Mechanical Gripper (Left), Pneumatic Gripper (Right) 46 Figure 2.37 Vacuum Gripper with Foam Rubber Layer (Left) and Suction Cups (Right) 47 Figure 2.38 Electromagnet Gripper (Left) and Permanent Magnet Gripper (Right) 47 Figure 2.39 Different Tool Types of Spindles 48 Figure 2.40 Custom Design Hot-Wire Cutting Tool by TKU Student 48 Figure 2.41 Universal Robots’ Teaching Pendant (Front and Back View) 49 Figure 2.42 U-Pendant (Left) and CAMOU Teach Pendant (Right) 50 Figure 2.43 Control Box of Universal Robots 50 Figure 2.44 the layout of electrical interface inside the control box 51 Figure 2.45 Single-Axis Positioner 52 Figure 2.46 KUKU Robotic Arm Mounted on the Linear Rail Track 52 Figure 2.47 Robot Programming by Using Teaching Pendant 53 Figure 2.48 Teaching by Demonstration of Universal Robots (Left), 54 Figure 2.49 Interface of RoboDK 55 Figure 2.50 GH Offline Programming Plugins: HAL, RAPCAM, Scorpion, Taco and KUKA|Prc (From Left to Right) 56 Figure 2.51 Robots Plugin Component Tab Panel 57 Figure 2.52 Load Robot System 57 Figure 2.53 Create Tool 57 Figure 2.54 Create Target 58 Figure 2.55 Create Program 58 Figure 2.56 Program Simulation 58 Figure 2.57 Save Program/ Remote UR 58 Figure 2.58 The Schematic Representation of Forward and Inverse Kinematics. 59 Figure 2.59 Wrist Singularity 60 Figure 2.60 Shoulder Singularity 61 Figure 2.61 Elbow Singularity 61 Figure 3.1 Robotic Fabrication Methods 64 Figure 3.2 Tool Path Development in GH 67 Figure 3.3 Cutting Path of Geometry in Rhino 67 Figure 3.4 The Tool Center Point (TCP) of Hot-Wire 68 Figure 3.5 Programming Script of Hot-Wire Cutting Process in GH 69 Figure 3.6 Needle Pin Tool (Left) and the Working Desk Plan (Right) 70 Figure 3.7 HWC Tool with TCP 70 Figure 3.8 Way Points Illustration 71 Figure 3.9 Spherical Boundary of KUKA KR30 71 Figure 3.10 Diagram of Design-to-Fabrication Workflow. 72 Figure 3.11 Scenario Simulation 01 73 Figure 3.12 Scenario Simulation 02 73 Figure 3.13 Scenario Simulation 03 73 Figure 3.14 Hot-Wire Cutting Tool (HWCT) Exploded View 74 Figure 3.15 Four-View Drawings and Exploded View of Three Types of Base Mould 75 Figure 3.16 Four Categories of Prototypes Design 76 Figure 3.17 Geometry Modelling (Up) and Cutting Tool Path Design (Down) in GH 77 Figure 3.18 Simulation of Cutting Process 78 Figure 3.19 Final Model 78 Figure 3.20 Fabrication Process of Two-Parabola Surface 78 Figure 3.21 Simulation of Cutting Process 79 Figure 3.22 Final Model 79 Figure 3.23 Geometry Modelling (Up) and Cutting Tool Path Design (Down) in GH 79 Figure 3.24 Simulation of Cutting Process 80 Figure 3.25 Final Model (Left), Detailing (Middle) and Overall Model (Right) 80 Figure 3.26 Geometry Modelling in GH 80 Figure 3.27 Simulation of Cutting Process 81 Figure 3.28 Detailing (Left) and Final Model (Right) 81 Figure 3.29 Fabrication Process of Hyperbolic Paraboloid Surface 81 Figure 3.30 Simulation of Cutting Process 82 Figure 3.31 Geometry Modelling in GH 82 Figure 3.32 Final Model (Fast Speed) 82 Figure 3.33 Final Model (Slow Speed) 82 Figure 3.34 Poor Detailing 82 Figure 3.35 Poor Detailing 83 Figure 3.36 Final Model (Left) and Detailing (Right) 83 Figure 3.37 Simulation of Cutting Process 83 Figure 3.38 The 11 Types of 2D Geometry Patterns 87 Figure 3.39 Spatializing the 11 Types of 2D Geometry Patterns 90 Figure 3.40 Fabrication Process of Type 01 91 Figure 3.41 Fabrication Process of Type 10 91 Figure 3.42 Final Model and Detailing 93 Figure 3.43 Overall Final Model 94 Figure 3.44 Joining Surface (Left & Middle) and Blow Up View (Right) 94 Figure 3.45 Assembly Process of Modular Column 94 Figure 3.46 Geometry Modelling and Cutting Tool Path Process 95 Figure 3.47 Simulation of Cutting Process 96 Figure 3.48 Program Scripting in GH 96 Figure 3.49 Individual Components (Left), Overall Final Model (Middle) and Blow Up Detail (Right) 97 Figure 3.50 Arrangement of The Modular Blocks laid on a Horizontal Surface 98 Figure 3.51 Vault Surface (Left) and The Modular Blocks Morph to the Vault Surface (Right) 98 Figure 3.52 Geometry Modelling in GH 99 Figure 3.53 Orientation of the Components onto the WCS 99 Figure 3.54 Cutting Path of each Component in GH 100 Figure 3.55 Simulation of Cutting Process 100 Figure 3.56 Overall Final Model (Left) and Blow Up Detail (Right) 101 Figure 3.57 The Gap in between Components 101 Figure 3.58 Cutting with Low Speed (Left) and Hight Speed (Right) 102 Figure 3.59 Speed and Temperature Configuration for HWC 103 Figure 3.60 Modular Blocks Type 04 Showed the Difference of the Divided Part 103 Figure 3.61 The Overheat Point of the Modular Blocks of Type 10 103 Figure 3.62 Individual of Column Components 104 Figure 3.63 The Differences in the Vault’s Components in Modelling 104 Figure 3.64 Summary Table of Prototypes Design Series 107 Figure 4.1 Hot-Wire Cutting Tool System Configuration 109 Figure 4.2 Deformation of the Existing Hot-Wire Cutting Tool (Top), 110 Figure 4.3 The Existing DC Power Supply (Source: Self-Taken Photo) 110 Figure 4.4 Small Hot-Wire Cutting Tool (HWCT) Exploded View 111 Figure 4.5 Materials for Small Hot-Wire Cutting Tool 112 Figure 4.6 Detail Drawing of Small Hot-Wire Cutting Tool 112 Figure 4.7 Manufacturing Process of Small Hot-Wire Cutting Tool 113 Figure 4.8 New Small Hot-Wire Cutting Tool Overview 113 Figure 4.9 Big Hot-Wire Cutting Tool (HWCT) Exploded View 114 Figure 4.10 Materials for Big Hot-Wire Cutting Tool 115 Figure 4.11 Detail Drawing of Big Hot-Wire Cutting Tool 115 Figure 4.12 Manufacturing Process of Big Hot-Wire Cutting Tool 116 Figure 4.13 New Big Hot-Wire Cutting Tool Overview 116 Figure 4.14 Electrical Power Supply Diagram for Small HWCT 118 Figure 4.15 Electrical Power Supply Diagram for Big HWCT 118 Figure 4.16 Materials for Electrical Power Supply 119 Figure 4.17 Manufacturing Process of Electrical Power Supply 119 Figure 4.18 Overview of Two Electrical Power Supplies 120 Figure 4.19 Summary Table of Overall HWCT 121 Figure 5.1 Multi-Robot Systems Scenario Simulation 122 Figure 5.2 Overview of Needle Gripper (Top Left), Detail Drawing of Needle Gripper (Bottom Left) and Needle Gripper Exploded View (Right) 123 Figure 5.3 Four-View Drawings and Exploded View of Positioning Base 123 Figure 5.4 Program Scripting in GH (UR5) 124 Figure 5.5 Three Different Holding Position of UR5 125 Figure 5.6 Preview of the Needle Gripper Tool Grab the Material Block 125 Figure 5.7 Program Scripting in GH (UR10) 126 Figure 5.8 Three Different Cutting Paths of UR10 126 Figure 5.9 Calibration Process of Two Robotic Arms (UR5 and UR10) 127 Figure 5.10 Fabrication Sequence of Two Robotic Arms 127 Figure 5.11Fabrication Process of Multi-Robot Systems 128 Figure 5.12 Overview (Left) and Close-Up View (Right) of the Final Outcome 129 Figure 5.13 The Newly Cut-Out Final Outcome after Recalibration 129 Figure 5.14 The Minor Error Cutting Difference of the Geometry (Right) Compared to Original Geometry (Left) 129 Figure 5.15 The Core Material 131 Figure 5.16, Epoxy Resin (AB Glue), E-Glass Woven Fibreglass (LT-390) 131 Figure 5.17 (a) A-Agent, (b) B-Agent, (c) Mixing Process, 132 Figure 5.18 Application of Water-based Release Agent 132 Figure 5.19 E-Glass Woven Fibreglass Layering Process 133 Figure 5.20 Overview of the FRP 133 Figure 5.21 Demoulding Process Failure 134 Figure 5.22 UR10 Hot-Wire Cutting Scenario Simulation 134 Figure 5.23 Modelling Process of FRP Vault 135 Figure 5.24 Simulation of Cutting Process 136 Figure 5.25 Assembly Process of the Vault (Source: Self-Taken Photos) 136 Figure 5.26 The Individual Components (Left) and the Overview (Right) of the Vault (Source: Self-Taken Photos) 136 Figure 5.27 Materials for FRP Application 137 Figure 5.28 Base Layering 138 Figure 5.29 Fibreglass Layering on the Base Mould Layer 138 Figure 5.30 Application of New Selected Water-based Release Agent 139 Figure 5.31 Final Fibreglass Layering Process 139 Figure 5.32 Demoulding (Top Row), Deblurring (Middle Row) and Cleaning (Bottom Row) Process 140 Figure 5.33 The Overview of the Base Mould (Vault) and the Vault FRP 140 Figure 5.34 The Base Mould (Vault) (Top Left), the Vault FRP (Top Right) 141 Figure 5.35 Poor Workmanship of FRP Layering 141 Figure 5.36 Summary Table of Multi-Robot Systems 142 Figure 5.37 Summary Table of FRP Application Process 143 Figure 6.1 The Reciprocal Relationship in the Thrust Network Analysis (TNA) 144 Figure 6.2 The Primal Grid Γ and Dual Grid Γ* are related by a Reciprocal Relationship 145 Figure 6.3 RV Form Finding Process 146 Figure 6.4 RhinoVAULT Form Finding Design Workflow 147 Figure 6.5 The Overview of RhinoVAULT Toolbar and Submenus 148 Figure 6.6 Site Location Photos 149 Figure 6.7 Floor Plan and Side Elevation of the Site Location 149 Figure 6.8 Initial Form Design Process 150 Figure 6.9 Default Setting of RV 150 Figure 6.10 Form and Force Diagram Generation Process 151 Figure 6.11 The Angle Tolerance exceeded the Maximum Deviation 152 Figure 6.12 Relax and Smoothen the Form Diagram 152 Figure 6.13 The Final Result of the Thrust Network, Form and Force Diagram 153 Figure 6.14 Two Supports of the Vault is Moved Vertically Up 153 Figure 6.15 The Comparison Before and After the Modification 154 Figure 6.16 The Final Vault Form Design 154 Figure 6.17 The Resultant Forces of the Vault 155 Figure 6.18 Basic Data Collection Scripting 155 Figure 6.19 The Vault Thickness Generation 155 Figure 6.20 The Optimization of the Joint Surface Design 156 Figure 6.21 Before and After the Optimization of the Joint Surface Design 156 Figure 6.22 The Vault Design with Thickness (Left) and Create Openings Process (Right) 157 Figure 6.23 The Final Vault Design 157 Figure 6.24 The Detail Drawing of the Final Vault Design 158 Figure 6.25 Multiple Minimum Bounding Box Calculation Scripting in GH 159 Figure 6.26 The Overview of the Final Vault Design (Top Left), the Bounding Box Optimization Process (Top Right) and Overall Components of the Final Vault Design (Bottom) 159 Figure 6.27 Laser Cutting Drawing of the Site Location Model 160 Figure 6.28 The Overall Components of the Site Model (Left) and the Completed Site Model (Right) 160 Figure 6.29 The Components are imported into the 3d Printing Software (Left) and the Print Preview of the Components (Right) 161 Figure 6.30 3d Printing Process (Left) and the Completed 3d Printing Components 161 Figure 6.31 The Bowerbird Scripting for the Waffle Structure Falsework in GH 162 Figure 6.32 The Waffle Structure Drawing for Laser Cutting 162 Figure 6.33 The Falsework Design Process 162 Figure 6.34 The Overall of the 3d Printed Components (Left) and the Falsework (Right) 163 Figure 6.35 The Assemble Process of the Scale Model 163 Figure 6.36 Assembly Process of Scale Model 164 Figure 6.37 The Overview of the Scale Model 165 Figure 6.38 KUKA KR30 Hot-Wire Cutting Scenario Simulation 166 Figure 6.39 Four-View Drawings and Exploded View of Positioning Base 166 Figure 6.40 The Optimization and Orientation of the Final Vault Components 167 Figure 6.41 The Orientation of Components in a Grid System 168 Figure 6.42 Summary of Material Quotation 168 Figure 6.43 Summary of Fabrication Time Estimation 168 Figure 6.44 Program Scripting in GH (KUKA KR30) 169 Figure 6.45 Simulation of Cutting Process 170 Figure 6.46 Tool Angle Parameter in the Create Tool Component for the Big HWCT 170 Figure 6.47 Four Different Angle of the Big HWCT 170 Figure 6.48 Collision of the Big HWCT and the Material Block 171 Figure 6.49 Fabrication Process of First Component (Camera 01) 172 Figure 6.50 Fabrication Process of Component 33 (Camera 02) 173 Figure 6.51 Adhesive and Finishes Materials 174 Figure 6.52 The Vault Divided into Three Sections for the Assembly Process Sequence 175 Figure 6.53 Assembly Process of the Vault (Section 01) 176 Figure 6.54 Assembly Process of the Vault (Section 02 & 03) 177 Figure 6.55 Reinforced and Finishes Process of the Vault (Section 01) 178 Figure 6.56 Reinforced and Finishes Process of the Vault (Section 02) 179 Figure 6.57 Reinforced and Finishes Process of the Vault (Section 03) 179 Figure 6.58 The Final Assembly Process of the Vault 180 Figure 6.59 The Final Reinforced Process 181 Figure 6.60 The Anchoring Process for the Section 03 of the Vault 181 Figure 6.61 The Completed Anchor Platform 182 Figure 6.62 The Final Finishes Process 182 Figure 6.63 The Overview of the Vault 01 183 Figure 6.64 The Overview of the Vault 02 184 Figure 6.65 The Overview of the Vault 03 185 Figure 6.66 The Overview of the Vault 04 186 Figure 6.67 The Vault in Raining Day 187 Figure 6.68 Over Slanted Wall (Left) and Uneven Floor (Right) 188 Figure 6.69 Summary of Actual Fabrication Time 188 Figure 6.70 RhinoVAULT Design workflow 189 Figure 7.1 Marble Cutting with Diamond-Wire Saw 192 |
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