機械手臂結合帶鋸機製造之應用-切削實木成形

伴隨著工業化技術的進步以及永續建築意識的上升，木材因為具備著固炭的功能、生長快速，並且是永續循環的建築材料，替代了鋼筋混凝土與鋼材的建造使用，因此全球掀起了木構造與竹構造等永續建材使用風潮。以往木材大多應用於家具與室內裝修的使用，然而木材隨著製材技術的進步，在加工上得到了很大的材料強度突破，也因此透過木材的製造出不同特性的建築元件。數位化的時代，面對設計到製造階段有更多可能的方式，並且有效率的支持所完成設計的造型。透過電腦輔助設計可在模擬中預覽設計內容並且精準的修正模型的尺寸與造型，數位製造機具可結合設計達到製造需求，達到工藝技術製造上的突破，強化設計與製造的精準度，並且有效率的改變設計與製造之間的關係與流程。曲木製造工法必須依靠木作工匠的精湛技藝與經驗才能完成，為了展現曲木的幾何形體，研究者針對三維曲木製造的可行性進行探討。本研究選擇直接切割的方式製造曲木，並結合傳統工藝的技術轉化成為數位製造的參數值。研究中透過離線編程，結合機械手臂搭載帶鋸機執行實木切削的加工作業，著重於木材的切削方式與機器手臂切割系統的製造方式，並制定一套曲木製造之數位工作流程。本研究分為四個部分：一、研究比較傳統曲木製造的方式，並透過手工實驗研究帶鋸機的切割特性與切削能力作為初步的研究參考。二、繪製具有三維曲木特性之直紋曲面參數化模型，配合切削路徑之設定。三、結合參數化幾何曲面的配置，以機械手臂結合帶鋸機嘗試實驗製造，測試末端執行器的實際切割能力與製造之契合度。四、透過實驗的嘗試並調整改善製造方式，設計製造一座曲木構造作為本研究的成果。

關鍵字

機器人製造；參數化模型；自由形態木構造；帶鋸機；離線編程

並列摘要

With the advancement of industrialization and the rise in awareness of sustainable construction, wood has replaced reinforced concrete and steel in construction because it has the function of carbon fixation, grows quickly, and is a sustainable building material. Therefore, there is a global trend of using sustainable building materials such as wood and bamboo. In the past, wood was mostly used for furniture and home decoration. However, with the progress of wood fabrication technology, a significant breakthrough in material strength has been achieved in processing. This has led to the production of building components through wood that have different characteristics. In the digital age, there are many possible ways to move from the design to the fabrication stage, as well as to support the completed design shape efficiently. Using computer-aided design, the design can be previewed within the simulation, and the model’s dimensions and shapes can be corrected precisely. Digital fabrication machines can combine the design with fabrication requirements to achieve technological breakthroughs, improve the accuracy of design and fabrication, and efficiently change the relationship and process between design and fabrication. Completion of the bentwood fabrication process relies on the superb skills and experience of woodworkers. To demonstrate the geometry of bentwood, this study investigated the feasibility of three-dimensional bentwood fabrication. In this study, direct cutting was chosen to fabricate bentwood, and the techniques of traditional artisanship were combined to convert it into the parameter values of digital fabrication. In this study, we combined off-line programming with a robot arm equipped with a bandsaw for the processing of solid wood cutting, highlighted the cutting method of wood and the fabrication method of the robot arm cutting system, and developed a digital workflow for bentwood fabrication. This study was conducted in four parts: First, it compared the traditional bentwood fabrication methods and examined the cutting characteristics and ability of the bandsaw through manual experiments as a preliminary research reference. Second, a parametric model of a straight surface with three-dimensional bentwood characteristics was designed to match the setting of the cutting path. Third, the parametric geometric surface configuration was combined with the robot arm equipped with a bandsaw to test the actual cutting ability of the end-effector and the fabrication fit. Fourth, through experimental attempts and improvements to the fabrication method, a bentwood structure was devised and fabricated as the achievement of this study.