應用數位設計與機械手臂銑削加工於集層曲木構築

木材有著快速生長、儲存碳元素以及能夠被生物降解等特性，在著重節能省碳與循環經濟的今日，歷久彌新的木材於21世紀再度成為眾所矚目的建築材料。透過今日木材材料科學與加工技術的進步，今日已經能夠建造高達18層樓的木構造建築物，是人類文明於建築領域中所能達到的高度成就。伴隨著工業革命的發展，為了能夠更加有效且便捷的進行加工生產與製造，工具的發展已經由手工、電動工具進入數位製造機具。電腦輔助設計（Computer-Aided Design，CAD）與電腦輔助製造（Computer-Aided Manufacturing，CAM）的結合，設計者能夠自定義不同的加工方式，整合設計到製造的流程。而機械手臂的出現一部機器能夠進行多類型的加工方法，減少了許多木材加工上的限制，並且以更高維的自由度進行加工。本研究主要透過機械手臂製造搭配銑削加工，並以曲木為結構框架進行設計與製造之整合。曲木是一種多維度變化的木構造形態，以往的曲木加工必須仰賴精湛的木工工藝，以及工匠搭配手工或電動工具進行製作。本研究透過六軸機械手臂與電腦離線編程，並於機器手臂末端執行器安裝電主軸進行自定義的曲木銑削加工，透過調整參數化模型以及機械手臂與轉盤達到更簡潔、更多元、且更有效率的數位製造方式。本論文主要分為四個部分：一、透過兩種形態的曲木實驗（扭轉、彎曲），針對其特性進行格柵亭與曲木亭的設計，並將扭轉及彎曲的數據轉換為參數並置入參數化模型，討論其構造與製造方式，並且產生三維的建築模型檢討施工時可能發生的問題並進行修正與改進。二、以曲木模具進行三維放樣集層膠合以生產曲木桿件，應用機械手臂離線編程與機械手臂銑削加工，建造出尺度為1：2的環形單點交叉結構曲木塔。三、將複層式的曲木結構桿件與結構節點相互結合，並透過機械手臂銑削加工所需的卡榫位置，最後進行組件的卡接定位，以及單元組件的組裝。四、記錄組裝與搭建曲木亭之過程。期待本研究的成果，能夠為本地的微型數位木工廠之規劃與機器手臂木材加工研究所參考。

關鍵字

集層膠合；機械手臂；銑削加工；曲木工藝；參數化設計

並列摘要

With its fast-growing, carbon-storing, and biodegradable properties, wood has once again become a prominent building material in the 21st century that emphasizes energy conservation and a circular economy. With today's advances in wood material science and processing technology, it is now possible to construct wood-frame buildings up to 18 stories high, which is a high level of achievement that human civilization has made in architecture. With the development of the industrial revolution, the development of tools has moved from manual- or power- tools to digital manufacturing machines for more efficient and convenient processing and manufacturing. With the combination of Computer-Aided Design (CAD) and Computer-Aided Manufacturing (CAM), designers are able to customize different processing methods and integrate the design-to-production process. With the advent of robotic fabrication, a machine can perform multiple types of processing methods, reducing many of the limitations on wood processing, and with a higher degree of freedom. Through robotic fabrication and milling, this study focuses on the integration of design and fabrication with wood-bending as a structural frame. Wood-bending is a multi-dimensional wood structure form. In the past, wood-bending must rely on craftsmen’ excellent wood craft with manual- or power- tools. In this study, a six-axis robot arm is programmed offline with a computer, and an electric spindle is mounted on the end-effector of the robotic arm for custom milling of wood-bending. By adjusting the parametric model, the robot arm and turntable, a simpler, more diverse and efficient digital manufacturing method is achieved. This paper is mainly divided into four parts: First, through two kinds of wood-bending experiments (twisting and bending), the grid pavilion and the wood-bending pavilion are designed according to their characteristics. Twisting and bending data are converted into parameters and input to a parametric model to discuss their construction and manufacturing methods. A 3D architectural model is generated to review the possible problems during construction for making corrections and improvements. Second, carry out 3D sample laminated timber with wood-bending molds to produce wood-bending rods. Robotic arm off-line programming and robotic milling are applied to construct a wood-bending tower with a 1:2 scale ring-shaped single-point cross structure. Third, we combine the composite wood-bending structural rods and nodes with each other, and process the required latching positions by robotic milling. Finally, carry out the clamping and positioning of the components and the assembly of the unit components. Fourth, the process of assembling and building the wood-bending pavilion is recorded. The results of this study are expected to serve as a reference for the planning of local micro digital wood craft factories and robotic wood processing research.