基於人機協作的混合實境迭代設計暨機械手臂輔助建造之模式研究

The Model Development of MR Iterative Design and Robot-Assisted Build Based on Human-Robot Collaboration

本研究提出一種基於人機協作的混合實境迭代設計暨機械手臂輔助建造之模式，希冀透過混合實境全尺度設計與機械手臂輔助製造兩者的實時交替迴圈，實現從設計到建造一體化的流程革新。本研究發展出「機器人協作系統」(ROCOS)的人機協作系統。ROCOS允許設計者在混合實境的環境下，以沉浸式的設計界面進行可累加的迭代設計模擬，並同步由實體的機械手臂進行組裝建造，實現設計者與機械手臂的交替設計建造循環。ROCOS所遵循的模式由三個關鍵部分組成: 1.實虛參照、2.迭代設計、3.協作建造。。首先是實虛參照的介面，該介面提供設計者一個沉浸式的混合實境環境。設計者可以在裡面進行全尺度的環境放樣、空間條件設定、以及設計模擬。在混合實境所建構的參考空間輔助下，設計者便能夠進行全尺度的設計模擬。在第二部分迭代設計，本研究提供條狀編織的迭代設計工具。設計者可以透過混合實境眼鏡與手把，以畫出複數條線條的方式模擬條狀單元彼此間的搭接與編織，直到最後構成一個複雜的條狀構造物。在第三部分的協作建造，每當設計者完成一筆的條狀單元設計模擬，ROCOS便會立即地將其長短、位置、方向等建築資訊模型要素抽出，透過KUKA|PRC轉化成機械手臂的組裝路徑(HRL作動控制檔)，進而驅動實體機械手臂進行實時的組裝，達成虛擬設計模擬與實體組裝建造的交替迴圈。

This research proposes a model for mixed reality (MR) iterative design and robot-assisted build based on human-robot collaboration. The aim is to achievean integrated process innovation from design to build through the real-time alternating loop between MR full-scale design and robot-assisted manufacturing. The research develops a human-robot collaboration system called Robot Collaboration System (ROCOS). ROCOS allows a designer to engage in accumulative iterative design simulations through an immersive design interface in a MR environment, while synchronously assembling and constructing by a physical robotic arm. It realizes an alternating design and build loop between the designer and the robotic arm. ROCOS consists of three key parts: 1. MR interface, 2. Iterative design simulation, and 3. Collaborative construction. Firstly, the MR interface provides adesigner with an immersive environment where he can conduct full-scale environment layout, spatial condition setting, and design simulation. With the assistance of reference space built in MR, adesigner can carry out full-scale design simulations. In the iterative design part, ROCOS provides a wooden strip-weaving iterative design tool. A designer can simulate the interlocking and weaving of strip units with multiple lines drawn through the MR glasses and handgrips until a complex strip structure is formed. In the third part, collaborative construction, whenever a designer completes the design simulation of a strip unit, ROCOS immediately extracts its BIMinformationincluding length, position, and orientation, and uses KUKA|PRC to convert them into robotic arm assembly pathsin HRL format. Then the HRL file can drive the physical robotic arm to perform real-time assembly. This achieves an alternating loop between virtual design simulation and physical assembly construction.