黏土本是人類最早使用於建築構造的材料，隨著夯土與窯燒的技術出現，黏土曾經是建築史上不可或缺的材料，幾千年的發展至今仍可以看到它的蹤跡。然而隨著科技的發展，水泥與鋼鐵大量取代了陶土在建築上的使用，陶土因為加工技術發展的限制而逐漸被淘汰。近年來三維列印的技術發展成熟，開放了許多材料在加工成型上的限制，創造了成形方式的新可能性。黏土秉持著天然環保、低汙染的優勢逐漸的在三維列印的領域中受到關注與發展。

本研究的內容主要可以分為三個部分：第一個部分比較目前已有的陶土列印系統，分析出本研究適合發展的陶土列印系統架構以便設計出一套結合機器手臂陶土列印的系統；包含陶土列印工具頭、陶土裝載管研發以及列印路徑編寫等，最後進行基礎列印來測試此陶土列印系統最佳的列印參數。第二部分為嘗試各種機器手臂陶土列印的方式，包括一般水平列印、水平填充列印和曲面模具列印；透過實際編程列印路徑與製造的方式來尋找出問題，並整理提出改善的方法以避免重蹈覆轍。第三部分則延伸了上一部分各種手臂陶土列印的技術，發展出一比一尺度的建築實體構造，經由此真實尺度的構造實體來驗證三維列印結合陶土是否能在建築構造上有新的發展潛力。

機器手臂結合黏土材料三維列印的應用優勢在於層積式的成形原理，能擺脫模具對於造形上的束縛。透過六軸機器手臂放樣可以靈活精準的在各種曲面做法向量列印，在客製化製造的市場上擁有極大的發展潛力。本研究重點主要聚焦在陶土列印系統的研發上，然而黏土的材料性也是影響機器手臂陶土列印的關鍵因素，若未來能在材料性方面有更深入的研究，勢必能在建築構造上開啟另一個新紀元。

Clay is one of the earliest material used for human in construction, with the invention of bauxite and kiln technic further push the limit of clay to one of the indispensable material, proven by its product which is traceable from century of times.  Following the pace of technology advancement, reinforce concrete largely replace the role of clay in architecture construction today, in the other hand clay processing technic has a downturn and slowly fall into disuse.  In recent years three dimensional printing technic developments has allows many materials to go beyond the limit in forming process, opens up the possibility in new exploration.  Due to clay’s organic, low environmental impact and sustainable characteristic has once again gain attention in three-dimensional printing in experiment and exploration.

    The research mainly categorized into three parts: first part would be a study of comparison on current clay printing system, identifying the best fit of system structure to be applied in further studies operating via robotic arm, which includes printing nozzle, clay compartment tubes and printing path composition, finally with actual printing test to find the best module under varies parametric adjustment.  The second part tested varies printing forms carry out by robotic arm, including flat horizontal surface filling and curve surface printing; along the process, troubleshoot was taken to identify the error and limitation for improvement.  Third part of the research extend the printing test in second part, further develop an actual scale structure for testing to find possible potential in applying into actual construction world.

Three-dimensional printing under robotic arm applied the principle of layering formation, this could reverse the convention method of forming that require molds.   The six dimensional axial movement of robotic arm provide an agile and precise set out that largely benefits the operational in curves form, making it a large stand in customization processing market needs.  As the research mainly focus in clay printing system development, however the knowledge of clay material property much influence the application into the printing system, futures studies that could look deeper into the clay material itself will definitely enhance the system and bring it to the next level.

目錄

第一章_緒論..........1
1-1_研究動機..........1
1-1-1_2017淡江建築傳承工作營啟發..........1
1-1-2_參數&數位製造的設計思維..........2
1-1-3_建築製造結合機械手臂的可能性..........3
1-1-4_古老建材-陶土..........4
1-1-5_工業4.0的革新..........5
1-1-6_零碳建築的趨勢..........6
1-2_研究目的..........7
1-2-1_研究機器手臂列印陶土製成..........7
1-2-2_設計手臂列印陶土工具頭..........7
1-2-3_測試各種手臂列印陶土方式..........7
1-2-4_實踐列印1：1陶構築..........7
1-3_相關領域..........8
1-3-1_陶藝..........8
1-3-2_參數設計..........8
1-3-3_機械手臂..........8
1-3-4_3D Printing..........9
1-4_研究流程..........10
1-5_研究成果..........11

第二章_文獻回顧與當前背景..........12
2-1_數位建築與自然的關聯性-導讀「重構自然」一書..........12
2-1-1_「重構自然」一書簡介..........12
2-1-2_從書中得到的啟發..........12
2-2_建築未來自動化建造的可能性-以MIT Media Lab「Towards Site-Specific and Self-Sufficient Robotic Fabrication on Architectural Scales」為例..........13
2-3_各種陶土材料的特性介紹..........15
2-3-1_黏土的形成..........15
2-3-2_陶土與瓷土的形成..........16
2-3-3_黏土的種類..........17
2-3-4_小結..........17
2-4_製陶相關工具與輔具介紹..........18
2-4-1_傳統製陶工具介紹..........18
2-4-2_傳統製陶輔具介紹..........19
2-4-3_數位製陶輔具介紹..........20
2-5_傳統與數位的陶土創作介紹與分析..........23
2-5-1_傳統陶作..........23
2-5-2_數位陶作..........27
2-5-3_小結..........29
2-6_陶瓷在建築上的應用..........30
2-6-1_2003-Eduardo De Miguel, Jose María Urzelai-Fish Market..........30
2-6-2_2005-FOA-Spanish Pavilion in 2005 Aichi International Exhibition..........30
2-6-3_2007-ARCHEA-NEMBRO PUBLIC LIBRARY..........31
2-6-4_2008-Francisco Mangado-Spanish Pavilion EXPO 2008..........31
2-6-5_2011-Kengo Kuma-Xinjin Zhi Museum..........32
2-6-6_2013-Juan Beldarrain-Teaching Block and Library..........32
2-6-7_2013-Pedro Campos Costa-Aquarium Extension..........33
2-7_機械手臂3D Printing陶土的團隊與應用..........34
2-7-1_Harvard GSD-Design Robotics Group-Material Processes and Systems Team..........34
2-7-2_The Institute for Advanced Architecture of Catalonia-Advanced Architecture Group..........35
2-7-3_CO.DE.IT..........37
2-7-4_HKU-Fabrication and Material Technologies Lab..........39
2-8_機械手臂3D Printing在建築上的應用..........40
2-8-1_Meshmould..........40
2-8-2_Apis Cor..........40
2-8-3_XtreeE..........41
2-8-4_ELstudio..........41
2-9小結..........42

第三章_機器手臂陶土列印系統設計與測試..........43
3-1_陶土列印系統配置與設計..........43
3-1-1_目前已有的陶土列印系統介紹..........43
3-1-2_陶土列印系統配置架構..........47
3-1-3_陶土噴頭設計與改良..........48
3-1-4_陶土裝載管設計..........52
3-2_陶土列印路徑設計..........56
3-3_機械手臂陶土列印測試..........61
3-3-1_機器手臂列印前置作業..........61
3-3-2_機器手臂陶土列印測試..........67
3-4_小結..........77

第四章_測試各種機器手臂陶土列印方式..........79
4-1_機器手臂水平陶土列印測試..........79
4-1-1_形態與列印路徑設計..........79
4-1-2_機器手臂水平陶土列印..........83
4-1-3_列印成果..........85
4-2_機器手臂水平填充陶土列印測試..........87
4-2-1_填充列印路徑設計..........87
4-2-2_機器手臂水平填充陶土列印..........91
4-2-3_列印結果..........95
4-3_機器手臂曲面模具陶土列印測試..........97
4-3-1_曲面模具列印設計..........97
4-3-2_曲面模具機器手臂陶土列印..........102
4-3-3_列印結果..........108
4-4_工作營嘗試與學習..........111
4-4-1_懸挑列印與平面Z軸移動列印嘗試..........111
4-4-2_TACO與ABB Robot列印..........113
4-5_小結..........115

第五章_1：1陶構造帷幕之設計與構築..........116
5-1_皺褶陶磚帷幕設計..........116
5-1-1_皺褶陶磚帷幕設計..........116
5-1-2_皺褶陶磚帷幕列印與構築..........119
5-2_螺旋曲磚帷幕設計..........123
5-2-1_螺旋曲磚帷幕設計..........123
5-2-2_螺旋曲磚帷幕列印與構築..........127
5-3_Minimal Surface陶單元設計..........132
5-3-1_Minimal Surface陶單元設計..........132
5-3-2_Minimal Surface陶單元列印與構築..........136
5-4_小結..........137

第六章_結論與建議..........138
6-1_手臂陶土列印研究之回顧與結論..........138
6-1-1_陶土列印系統比較與設備研發..........138
6-1-2_機器手臂列印路徑控制與測試..........138
6-1-3_測試不同陶土列印方式..........139
6-1-4_1：1陶構造之設計與構築..........139
6-2_後續發展應用與建議..........140
6-2-1_陶土列印系統硬體改良..........140
6-2-2_材料性..........140
6-2-3_AI視覺監控和即時修正..........140
6-3_個人研究心得..........141

參考文獻..........142

附錄..........144
附錄一_2018淡江建築傳承之機械手臂製造工作營..........144
附錄1-1_工作營概述..........144
附錄1-2_機器手臂陶土三維列印工作營教學及製造記錄..........145
附錄1-3_工作營成果..........148
附錄二_2018雲科創意工場機器手臂陶土列印工作營..........149
附錄2-1_工作營概述..........149
附錄2-2_工作營教學及製造紀錄..........149
附錄2-3_工作營成果..........151
附錄三_口試版面..........152


圖目錄

圖1-1-1-1_2017淡江陶土列印工作營手臂..........1
圖1-1-1-2_2017淡江陶土列印工作營成果..........1
圖1-1-2-1_Giornata di Studio su Gusci, Gridshell e Stoneshell..........2
圖1-1-3-1_ETH&UCL-Stratifications..........3
圖1-1-3-2_ETH-Structural Oscillations..........3
圖1-1-4-1_ Musgum..........4
圖1-1-6-1_建材廢棄物..........6
圖1-1-6-2_廢棄建築..........6

圖2-1-1-1_重構自然_數位構築方法下的建築新詩性..........12
圖2-2-1_Preliminary exploration of mobile printing with DCP..........13
圖2-2-2_Beginning layers of dome print..........13
圖2-2-3_DCP inside printed dome structure..........13
圖2-3-1-1_黏土..........15
圖2-3-1-2_黏土形成過程..........15
圖2-3-2-1_ Lucas williams-clay hand models collage..........16
圖2-4-3-1_Olivier Van Herpt Delta Clay Printer..........20
圖2-4-3-2_IAAC Robotic Arm with Clay Printing..........20
圖2-4-3-3_CO.DE.IT Robotic Clay printing Tool..........20
圖2-4-3-4_CNC石膏模具..........21
圖2-4-3-5_FormBox Desktop Vacuum Former..........21
圖2-4-3-6_彈性布曲面模具..........21
圖2-4-3-7_Harvard GSD Robotic Clay Wire-Cutting..........22
圖2-4-3-8_Harvard GSD Robotic Clay Wire-Cutting Tool..........22
圖2-5-1-1-1_吳志學-詹國祥師傅示範手拉坏..........23
圖2-5-1-1-2_吳志學-詹國祥師傅示範手拉坏壓花..........23
圖2-5-1-2-1_夯土建築..........25
圖2-5-1-2-2_夯土牆..........25
圖2-5-1-3-1_陶磚..........26
圖2-5-1-3-2_Diébédo Francis Kéré-The Public Library in Gando..........26
圖2-5-2-1-1_ Building Bytes Wall..........27
圖2-5-2-1-2_ Building Bytes Unit Printing..........27
圖2-5-2-2-1_ GCODE.Clay Vase..........27
圖2-5-2-2-2_ GCODE.Clay Exhibition..........27
圖2-5-2-3-1_Quake Column成品..........28
圖2-5-2-3-2_Quake Column Unit..........28
圖2-5-2-4-1_CNC Ceramic Column灌製母模..........28
圖2-5-2-4-2_ CNC Ceramic Column成品..........28
圖2-5-2-5-1_ Exploring the boundaries between digital and analog machines成品..........29
圖2-5-2-5-2_ Exploring the boundaries between digital and analog machines展覽..........29
圖2-6-1-1_陶格柵板單元..........30
圖2-6-1-2_對流層..........30
圖2-6-1-3_魚市場遮陽帷幕..........30
圖2-6-2-1_ Spanish Pavilion in 2005 Aichi International Exhibition..........30
圖2-6-2-2_Ceramics Curtain Wall Detail..........30
圖2-6-3-1_圖書館側立面..........31
圖2-6-3-2_帷幕牆內廊道..........31
圖2-6-3-3_瓷磚帷幕細部..........31
圖2-6-4-1_ Spanish Pavilion EXPO 2008..........31
圖2-6-4-2_陶柱擠出單元..........31
圖2-6-5-1_ Xinjin Zhi Museum..........32
圖2-6-5-2_ Xinjin Zhi Museum Ceramic curtain wall..........32
圖2-6-6-1_ Teaching Block and Library Elevation..........32
圖2-6-6-2_ Teaching Block and Library detail..........32
圖2-6-7-1_水族館入口量體立面..........33
圖2-6-7-2_水族館入口量體陶瓷帷幕..........33
圖2-7-1-1_MaP+S Group logo..........34
圖2-7-1-1-1_ Woven Clay Curtain Wall..........34
圖2-7-1-1-2_ Woven Clay Curtain Wall Printing Path..........34
圖2-7-2-1_IAAC Logo..........35
圖2-7-2-1-1_MATAERIAL Clay Printing..........35
圖2-7-2-1-2_Clay Printing Robot..........35
圖2-7-2-2-1_TerraPerforma Printing Processe..........36
圖2-7-2-2-2_TerraPerforma Wall..........36
圖2-7-3-1_ CO.DE.IT Logo..........37
圖2-7-3-1-1_INFORMED CLAY Printer..........37
圖2-7-3-1-2_INFORMED CLAY MATTER Model..........37
圖2-7-3-2-1_將陶土澆灌在曲面輔具上..........38
圖2-7-3-2-2_彈性布所構成的曲面模具..........38
圖2-7-4-1-1_Ceramic Brick Pattern..........39
圖2-7-4-1-2_ Ceramic Constellation Pavilion..........39
圖2-7-4-1-3_ Ceramic Brick Printing..........39
圖2-8-1-1_Mesh Mould 複合水泥構造..........40
圖2-8-1-2_Mesh Mould 澆灌水泥..........40
圖2-8-2-1_Apis Cor 三維列印建造系統..........40
圖2-8-3-1_XtreeE 3D列印水泥柱..........41
圖2-8-3-2_XtreeE 3D列印水泥房屋..........41
圖2-8-4-1_ELstudio 3D列印陶磚結構..........41
圖2-8-4-2_ELstudio 3D列印陶磚組構..........41

圖3-1-1-1_ Delta Wasp 2040..........43
圖3-1-1-2_ IAAC Cable Robot..........43
圖3-1-1-3_ HKU ABB Robot..........44
圖3-1-1-4_ AA DRL Group 4 Print System..........44
圖3-1-1-5_ IAAC Terra Performa Print System..........44
圖3-1-1-6_ 3D Potter Print System..........45
圖3-1-1-7_ Vormvrij 3D Print System..........45
圖3-1-2-1_陶土列印系統配置架構..........47
圖3-1-3-1_第一代陶土噴頭..........48
圖3-1-3-2_第二代陶土噴頭..........49
圖3-1-3-3_第三代陶土噴頭..........50
圖3-1-4-1_三代陶土裝載管..........52
圖3-1-4-2_第一代陶土裝載管..........53
圖3-1-4-3_第二代陶土裝載管..........54
圖3-1-4-4_第三代陶土裝載管..........55
圖3-2-1_Software logo..........56
圖3-2-2_Program Design Process..........56
圖3-2-3_編寫列印路徑範例..........57
圖3-2-4_設定列印路徑安全點與I/O點..........57
圖3-2-5_工作平面校正設定..........58
圖3-2-6_翻轉向量與列印點位放樣..........58
圖3-2-7_噴頭與目標資訊設定..........59
圖3-2-8_機器手臂語言轉譯與動態模擬設定..........59
圖3-2-9_機器手臂程式碼傳輸設定..........60
圖3-3-1-1_機器手臂陶土列印使用之相關設備..........61
圖3-3-1-2_組裝陶土噴頭1..........61
圖3-3-1-3_組裝陶土噴頭2..........61
圖3-3-1-4_組裝陶土噴頭3..........62
圖3-3-1-5_組裝陶土噴頭4..........62
圖3-3-1-6_組裝陶土噴頭5..........62
圖3-3-1-7_機器手臂工作平面校正1..........62
圖3-3-1-8_機器手臂工作平面校正2..........62
圖3-3-1-9_機器手臂工作平面校正3..........63
圖3-3-1-10_使用陶土噴頭測試路徑1..........63
圖3-3-1-11_使用陶土噴頭測試路徑2..........63
圖3-3-1-12_將相關設備連接手臂I/O 1..........63
圖3-3-1-13_將相關設備連接手臂I/O 2..........63
圖3-3-1-14_將相關設備連接手臂I/O 3..........64
圖3-3-1-15_將相關設備連接手臂I/O 4..........64
圖3-3-1-16_將相關設備連接手臂I/O 5..........64
圖3-3-1-17_練土、填土、裝載陶土管1..........64
圖3-3-1-18_練土、填土、裝載陶土管2..........64
圖3-3-1-19_練土、填土、裝載陶土管3..........65
圖3-3-1-20_練土、填土、裝載陶土管4..........65
圖3-3-1-21_練土、填土、裝載陶土管5..........65
圖3-3-1-22_練土、填土、裝載陶土管6..........65
圖3-3-1-23_順料及各設備最後調整1..........65
圖3-3-1-24_順料及各設備最後調整2..........65
圖3-3-1-25_順料及各設備最後調整3..........66
圖3-3-2-1_圓弧器皿列印成品..........67
圖3-3-2-2_圓弧器皿列印路徑..........67
圖3-3-2-3_圓弧器皿成品模擬..........67
圖3-3-2-4_圓弧器皿列印過程縮時記錄..........68
圖3-3-2-5_星形螺旋筆筒列印成品..........69
圖3-3-2-6_星形螺旋筆筒列印路徑..........69
圖3-3-2-7_星形螺旋筆筒成品模擬..........69
圖3-3-2-8_星形螺旋筆筒列印過程縮時記錄..........70
圖3-3-2-9_五角螺旋花瓶V1列印成品..........71
圖3-3-2-10_五角螺旋花瓶V1列印路徑..........71
圖3-3-2-11_五角螺旋花瓶V1成品模擬..........71
圖3-3-2-12_五角螺旋花瓶V1列印過程縮時記錄..........72
圖3-3-2-13_五角螺旋花瓶V2列印成品..........73
圖3-3-2-14_五角螺旋花瓶V2列印路徑..........73
圖3-3-2-15_五角螺旋花瓶V2成品模擬..........73
圖3-3-2-16_五角螺旋花瓶V2列印過程縮時記錄..........74
圖3-3-2-17_圓形填充打底列印成品..........75
圖3-3-2-18_圓形填充打底列印路徑..........75
圖3-3-2-19_圓形填充打底成品模擬..........75
圖3-3-2-20_圓形填充打底列印過程縮時記錄..........76
圖3-4-1_測試列印數據..........78

圖4-1-1-1_Parametric Column Process Diagram..........79
圖4-1-1-2_Column Grasshopper 1..........79
圖4-1-1-3_Column Grasshopper 2..........80
圖4-1-1-4_Column Grasshopper 3..........80
圖4-1-1-5_Column Grasshopper 4..........80
圖4-1-1-6_Column Grasshopper 5..........81
圖4-1-1-7_Column Grasshopper 6..........81
圖4-1-1-8_Column Grasshopper 7..........82
圖4-1-1-9_Column Grasshopper 8..........82
圖4-1-2-1_Column Print Diagram 1..........83
圖4-1-2-2_Column Print Diagram 2..........83
圖4-1-2-3_柱子列印過程縮時紀錄..........84
圖4-1-3-1_柱子單元未乾燥列印成品..........85
圖4-1-3-2_柱子單元組合未乾燥成品..........85
圖4-1-3-3_柱子金屬釉燒成品1..........86
圖4-1-3-4_柱子單元組合乾燥成品..........86
圖4-1-3-5_柱子金屬釉燒成品2..........86
圖4-1-3-6_柱子金屬釉燒成品3..........86
圖4-2-1-1_牆體填充樣式..........87
圖4-2-1-2_Infill Wall Type1路徑..........88
圖4-2-1-3_ Infill Wall Type2路徑..........88
圖4-2-1-4_Infill Wall Type1 Grasshopper 1..........88
圖4-2-1-5_Infill Wall Type2 Grasshopper 1..........88
圖4-2-1-6_Infill Wall Type1 Grasshopper 2..........89
圖4-2-1-7_Infill Wall Type2 Grasshopper 2..........89
圖4-2-1-8_Infill Wall Type1 Grasshopper 3..........89
圖4-2-1-9_Infill Wall Type2 Grasshopper 3..........89
圖4-2-1-10_Infill Wall Type1 Grasshopper 4..........90
圖4-2-1-11_Infill Wall Type2 Grasshopper 4..........90
圖4-2-2-1_ Infill Wall Type1局部路徑順序..........91
圖4-2-2-2_ Infill Wall Type1全部路徑順序..........91
圖4-2-2-3_ Infill Wall Type1列印過程1..........91
圖4-2-2-4_ Infill Wall Type1列印過程2..........91
圖4-2-2-5_ Infill Wall Type1列印過程縮時記錄..........92
圖4-2-2-6_ Infill Wall Type2局部路徑順序..........93
圖4-2-2-7_ Infill Wall Type2全部路徑順序..........93
圖4-2-2-8_ Infill Wall Type2列印過程1..........93
圖4-2-2-9_ Infill Wall Type2列印過程2..........93
圖4-2-2-10_ Infill Wall Type2列印過程縮時記錄..........94
圖4-2-3-1_ Infill wall type1列印成品1..........95
圖4-2-3-2_ Infill Wall Type1列印成品2..........95
圖4-2-3-3_Infill Wall Type1列印成品3..........95
圖4-2-3-4_ Infill Wall Type2列印成品1..........95
圖4-2-3-5_ Infill Wall Type2列印成品2..........95
圖4-2-3-6_ Infill Wall Type2素燒成品1..........96
圖4-2-3-7_ Infill Wall Type2素燒成品2..........96
圖4-3-1-1_曲面模具工作流程介紹..........97
圖4-3-1-2_曲面模具陶土列印之加工路徑編排說明..........98
圖4-3-1-3_兩種直紋曲面切割模具..........98
圖4-3-1-4_Print Mold Wire Cutting Grasshopper 1..........99
圖4-3-1-5_Print Mold Wire Cutting Grasshopper 2..........99
圖4-3-1-6_Print Mold Wire Cutting Grasshopper 3..........99
圖4-3-1-7_Print Mold Wire Cutting Grasshopper 4..........100
圖4-3-1-8_Print Mold Wire Cutting Grasshopper 5..........100
圖4-3-1-9_兩種直紋曲面列印路徑..........100
圖4-3-1-10_Surface Print Path Grasshopper 1..........101
圖4-3-1-11_Surface Print Path Grasshopper 2..........101
圖4-3-1-12_Surface Print Path Grasshopper 3..........101
圖4-3-2-1_Print Mold Wire Cutting Diagram..........102
圖4-3-2-2_ Print Mold Wire Cutting Simulation..........102
圖4-3-2-3_ Print Mold Wire Cutting空跑路徑..........102
圖4-3-2-4_Print Mold切割過程縮時記錄..........103
圖4-3-2-5_Surface Clay Printing Diagram..........104
圖4-3-2-6_ Surface Clay Printing Simulation..........104
圖4-3-2-7_ Surface Clay Printing實際列印記錄..........105
圖4-3-2-8_Surface Print 1列印過程縮時記錄..........106
圖4-3-2-9_Surface Print 2列印過程縮時記錄..........107
圖4-3-3-1_列印模具切割成果..........108
圖4-3-3-2_曲面列印1未乾燥成品..........109
圖4-3-3-3_曲面列印2未乾燥成品..........109
圖4-3-3-4_曲面列印未窯燒成品..........110
圖4-3-3-5_曲面列印1乾燥成品..........110
圖4-3-3-6_曲面列印2乾燥成品..........110
圖4-4-1-1_懸挑列印作品1設計說明..........111
圖4-4-1-2_懸挑列印作品1列印成品1..........111
圖4-4-1-3_懸挑列印作品1列印成品2..........111
圖4-4-1-4_懸挑列印作品2設計說明..........112
圖4-4-1-5_懸挑列印作品2列印成品1..........112
圖4-4-1-6_懸挑列印作品2列印成品2..........112
圖4-4-1-7_水平Z軸移動列印3D..........112
圖4-4-1-8_水平Z軸移動列印成品..........112
圖4-4-2-1_TACO工具頭設定..........113
圖4-4-2-2_TACO目標平面與I/O設定..........113
圖4-4-2-3_TACO模擬與傳輸設定..........114
圖4-4-2-4_TACO實際模擬畫面..........114
圖4-4-2-5_操作雲科ABB Robot..........114

圖5-1-1-1_皺褶陶磚帷幕概念圖..........116
圖5-1-1-2_皺褶陶磚帷幕3D模型..........116
圖5-1-1-3_皺褶陶磚帷幕設計過程..........117
圖5-1-1-4_皺褶磚帷幕設計Grasshopper 1..........117
圖5-1-1-5_皺褶磚帷幕設計Grasshopper 2..........117
圖5-1-1-6_皺褶磚帷幕設計Grasshopper 3..........118
圖5-1-1-7_皺褶磚帷幕設計Grasshopper 4..........118
圖5-1-2-1_皺褶陶磚帷幕牆裝載爆炸圖..........119
圖5-1-2-2_皺褶陶磚帷幕牆單元構築爆炸圖..........119
圖5-1-2-3_皺褶陶磚帷幕牆接頭爆炸圖..........120
圖5-1-2-4_皺褶陶磚帷幕手臂列印模擬..........121
圖5-1-2-5_皺褶陶磚帷幕單元1列印成品..........121
圖5-1-2-6_皺褶陶磚帷幕單元0列印失敗品..........121
圖5-1-2-7_皺褶陶磚帷幕單元3、4分段列印成品..........122
圖5-1-2-8_皺褶陶磚帷幕單元3上下接合成品..........122
圖5-1-2-9_皺褶陶磚帷幕單元1釉燒成品..........122
圖5-1-2-10_皺褶陶磚帷幕單元組裝接頭..........122
圖5-1-2-11_皺褶陶磚帷幕局部組裝成品..........122
圖5-2-1-1_螺旋曲磚帷幕概念圖..........123
圖5-2-1-2_螺旋曲磚帷幕單元排列示意圖..........123
圖5-2-1-3_螺旋曲磚帷幕正面紋理示意圖..........124
圖5-2-1-4_螺旋曲磚帷幕尺寸示意圖..........124
圖5-2-1-5_螺旋曲磚帷幕Grasshopper 1..........125
圖5-2-1-6_螺旋曲磚帷幕Grasshopper 2..........125
圖5-2-1-7_螺旋曲磚帷幕Grasshopper 3..........125
圖5-2-1-8_螺旋曲磚帷幕Grasshopper 4..........126
圖5-2-1-9_螺旋曲磚帷幕Grasshopper 5..........126
圖5-2-2-1_螺旋曲磚帷幕裝載爆炸圖..........127
圖5-2-2-2_帷幕邊緣接頭爆炸圖..........127
圖5-2-2-3_帷幕中心接頭爆炸圖..........128
圖5-2-2-4_帷幕單元接頭爆炸圖..........128
圖5-2-2-5_螺旋曲磚帷幕手臂製造示意圖..........129
圖5-2-2-6_螺旋曲磚帷幕列印模具切割1..........129
圖5-2-2-7_螺旋曲磚帷幕列印模具切割2..........129
圖5-2-2-8_螺旋曲磚帷幕單元曲面列印1..........130
圖5-2-2-9_螺旋曲磚帷幕單元曲面列印2..........130
圖5-2-2-10_螺旋曲磚帷幕局部組裝成品1..........131
圖5-2-2-11_螺旋曲磚帷幕組裝接頭正面..........131
圖5-2-2-12_螺旋曲磚帷幕組裝接頭背面..........131
圖5-2-2-13_螺旋曲磚帷幕局部組裝成品2..........131
圖5-3-1-1_Minimal Surface建構示意圖..........132
圖5-3-1-2_ Minimal Surface陶單元組合示意圖..........132
圖5-3-1-3_ Minimal Surface中單元-茶桌應用示意圖..........133
圖5-3-1-4_ Minimal Surface大單元-植栽牆應用示意圖..........133
圖5-3-1-5_ Minimal Surface陶單元Grasshopper 1..........134
圖5-3-1-6_ Minimal Surface陶單元Grasshopper 2..........134
圖5-3-1-7_ Minimal Surface陶單元Grasshopper 3..........134
圖5-3-1-8_ Minimal Surface陶單元Grasshopper 4..........135
圖5-3-1-9_ Minimal Surface陶單元Grasshopper 5..........135
圖5-3-2-1_Minimal Surface陶單元製造示意圖..........136
圖5-3-2-2_Minimal Surface陶單元手臂陶土列印示意圖..........136

附錄圖1-1-1_2018淡江建築傳承工作營海報..........144
附錄圖1-1-2_ARM´S UP 4.0 Poster..........144
附錄圖1-2-1_2018傳承工作營手臂列印陶土Lecture封面..........145
附錄圖1-2-2_2018TKUA-SSLW-Clay Printing Lecture Case 1..........145
附錄圖1-2-3_2018TKUA-SSLW-Clay Printing Lecture Case 2..........145
附錄圖1-2-4_2018TKUA-SSLW-Clay Printing Lecture Case 3..........145
附錄圖1-2-5_工作營練土與填土1..........145
附錄圖1-2-6_工作營練土與填土2..........145
附錄圖1-2-7_工作營校正工作平面..........146
附錄圖1-2-8_工作營教導手臂操作與列印..........146
附錄圖1-2-9_工作營陶土列印組第一階段發表..........146
附錄圖1-2-10_工作營陶土列印組最終發表..........147
附錄圖1-3-1_第一組版面..........148
附錄圖1-3-2_第二組版面..........148
附錄圖1-3-3_第三組版面..........148
附錄圖1-3-4_工作營展覽..........148

附錄圖2-1-1_2018 IDF機器手臂陶土列印工作營海報..........149
附錄圖2-2-1_2018 IDF陶土列印介紹..........150
附錄圖2-2-2_2018 IDF參數化花瓶課程..........150
附錄圖2-2-3_2018 IDF機器手臂模擬課程..........150
附錄圖2-2-4_2018 IDF機器手臂末端執行器介紹..........150
附錄圖2-2-5_2018 IDF機器手臂列印過程1..........150
附錄圖2-2-6_2018 IDF機器手臂列印過程2..........150
附錄圖2-3-1_2018 IDF機器手臂陶土列印設備左視圖..........151
附錄圖2-3-2_2018 IDF機器手臂陶土列印設備右視圖..........151
附錄圖2-3-3_2018 IDF機器手臂陶土列印工作營成果..........151


表目錄

表1-4-1_研究流程圖..........10
表2-3-3-1_黏土的種類表(新北市立鶯歌陶瓷博物館)..........17
表3-1-1-1_陶土列印系統分析表..........46
表3-4-1_各噴頭與陶土裝載管性能比較表..........77

參考文獻

中文

1.邱浩修，2014，〈後數位化建築演化論-蛻變與湧現〉，《臺灣建築學會會刊雜誌》4月。
2.邱浩修，2013，《重構自然_數位構築方法下的建築新詩性》，臺中市：東海大學創藝研究學院建築研究中心。
3.胡順傑，2008，《探討綠建築對環境永續發展的重要性》，全國高級中等學校小論文。
4.黃馨儀，2014，《陶瓷鶯歌_地方生活空間的材料構思》，淡江大學建築學系碩士論文。
5.張軒誠，2014，《參數化設計下陶製單元構築研究》，淡江大學建築學系碩士論文。
6.張恭領，2009，《陶質建築織理性之建構與研究》，淡江大學土木學系博士論文。


英文

1.Steven J. Keating, Julian C. Leland, Levi Cai, Neri Oxman, 2017, Toward site-specific and self-sufficient robotic fabrication on architectural scales, Science Robotics, American Association for the Advancement of Science, NY, Vol 2, Issue 5.


網路

1.廣興陶藝館，〈陶藝製作基本設備及工具介紹〉，http://content.ks.edu.tw/pottery/learning/b3.htm
2.Eduardo De Miguel，〈Ceramic Architectures〉，http://www.ceramicarchitectures.com
3.林發權轉發，〈點土成金有妙方〉，鶯歌陶瓷論壇，http://www.tp101.org/yinge/read.php?tid=5790
4.釉藥堂，〈陶藝工具〉，http://www.glazes.com.tw/product-category/pottery-tool-and-art-tool/page/3?orderby=popularity
5.京好手物，〈陶藝家的素材-認識陶瓷黏土〉，https://trulygoods.wordpress.com/2016/09/26/%E9%99%B6%E8%97%9D%E5%AE%B6%E7%9A%84%E6%9D%90%E6%96%99-%E8%AA%8D%E8%AD%98%E9%99%B6%E7%93%B7%E9%BB%8F%E5%9C%9F/
6.〈陶之本色〉，http://gisc.tcgs.tc.edu.tw/hometown_goe/yao/kiln.htm#up01
7.敦煌飛天，〈陶瓷原料主要成份〉，奇摩知識+，https://tw.answers.yahoo.com/question/index?qid=20100904000010KK01653
8.MIT Mediated Matter，〈DCP：Digital Construction Environment〉，http://matter.media.mit.edu/environments/details/3d-printed-hemi-ellipsoidal-dome
9.Apis Cor.，http://apis-cor.com/en/about/who-we-are
10.CO-de-iT：Computational Design Italy，http://www.co-de-it.com/wordpress/
11.ELstudio,Architecture & Research，http://www.elstudio.nl/
12.ETH Zurich Gramazio Kohler Research，http://dfab.arch.ethz.ch/
13.Harvard GSD Design Robotic Group，http://research.gsd.harvard.edu/drg/category/ceramic-systems/
14.HKUrbanLab，〈Ceramic Construction Pavilion〉，http://www.arch.hku.hk/research_project/ceramic-constellation-pavilion/
15.Iaac Blog，http://www.iaacblog.com/
16.XtreeE，https://www.xtreee.eu/projects/
17.Design Lab Workshop，〈Building Bytes〉，http://designlabworkshop.com/works/building-bytes/
18.Emerging Objects，http://www.emergingobjects.com/
19.Archidaily，〈This Pottery Printer Explores the Boundary Between Digital and Analog Machines〉，https://www.archdaily.com/869076/this-pottery-printer-explores-the-boundary-between-digital-and-analog-machines
20.AALOG，〈Clay Printing – DRL Group 4〉，http://life.aaschool.ac.uk/?p=26132
21.3D Potter，https://3dpotter.com/
22.VormVrij 3D，https://lutum.vormvrij.nl/
23.Wasp 3D，https://www.3dwasp.com/en/#
24.B.A.T，〈Informed Ceramic〉，http://b-at.kr/informedceramics/