機械手臂輔助互承性木構築實現從設計到製造一體化流程

The Robotic-arm-Assisted Reciprocal Wood Tectonics for the Integrated Process from Design to Build

智慧營建在現今面臨少子化與缺工的社會現象，以及工程日趨複雜與高度整合的趨勢下，已成為先進國家戮力發展的戰略性目標。在智慧營建的框架下，本研究企圖發展一套機械手臂輔助互承性木構築，以探討並實證「設計為建造」從設計到製造一體化流程。本研究以雙曲拋物面互承性木構涼亭設計專案對機械手臂輔助數位構築進行技術實證。機械手臂輔助互承性木構築的工法分成三大階段: 1.設計階段的成形查找、互承佈署與實體生成、2.製造階段的虛實流程整合設計、以及3.建造階段的自動化組裝。設計階段透過參數化設計軟體及其支援性運算程式，可以實現可調式性的成形查找到最佳化的互承性結構佈署，再透過實際材料斷片尺寸進行實體的製造模型生成；進入到製造階段，透過機械手臂的路徑生成程式，可以運用視覺化的數位雙生模型及其模擬，產生虛實流程整合設計，實現對於木材角料構件的精準加工和客製化製造；最終運用機械手臂的空間定位特性對組裝構件進行空間放樣與目標區定位，達到對複雜空間構件的自動化的組裝。總結來說，本研究發展並實證透過機械手臂輔助互承性木構築的找形設計、數位製造、自動組裝三階段的一體化流程。

The smart construction has become the strategic goal among developed countries due to the trend of declining birthrate rate and lack of workers. Under the frame of smart construction, this research develops the robotic-arm-assisted reciprocal wood tectonics to demonstrate the complete process from design to build. We found the hyperbolic paraboloid reciprocal pavilion project and use robotic arm to assist the construction process. There are three tectonic construction phases including 1. Design phase: the forming finding and reciprocal frame deployment, 2. Fabrication phase: the integrated design process from virtual to real, and 3. Construction phase: the automatic assembly. In conclusion, our research demonstrates the complete robotic-arm-assisted reciprocal wood tectonics based on form finding design, digital fabrication, and automatic assembly.