以多向度榫卯接頭搭建的純木框架結構與機械手臂製造之應用

面對地球環境的劇烈變化，環保、節能、永續等觀念在建築產業上也逐漸受到重視。相較於現代建築常使用但高汙染、高耗能且無法回收利用的鋼筋混凝土，木材是純自然生成的建築材料且具有質地輕、儲備碳元素的功能，以及可被生物分解的特性等。不僅如此，透過今日的技術，加工後的木料可具備了抗震、防火、與防蟲等優勢。隨著永續環境議題受到重視，今後木構造建築的發展不容忽視。為求更有效率的生產與製造，在第三次工業革命後木材工業改以一機多用的方式提昇產量與效率。在電腦軟體可普遍輔助加工的環境下，結合電腦輔助設計（Computer-Aided Design，CAD）、電腦數值控制工具機（Computer Numerical Control，CNC）與機械手臂製造（Robotic Fabrication）的應用，增加了木材加工技術的發展與新的可能性。本研究著重於以機械手臂為主軸的自動化製程，並以木材材料性的結構特質為基礎，應用互承結構與榫構造的設計搭建多角度變化的幾何外型框架。本研究主要分為四個部分：一、由傳統魯班鎖鎖件的幾何元件設計為基礎，以CAD軟體繪製可調整型態與角度的參數化榫卯模型，並且透過研究互承結構的幾何關係繪製基本的拱型結構。二、透過機器人離線編程(Off-line Programming, OLP )與機器人製造的方式，測試機械手臂側面銑削加工的路徑與系統配置並以第一部分設計的結構模型為基礎重新規劃製程並且實際製造。三、結合榫卯設計與互承結構的系統並將該系統套用至一多角度變化的連續幾何面，設計展示亭之外形與構造，並調整機械手臂的製程系統完成製造。四、記錄組裝與搭建展示亭的過程與成果。以往複雜的木構造結構搭配榫卯設計或互承結構的系統必需仰賴極為精湛的木工手藝與技術方可完成施作。本研究透過設計機器人離線編程並使用機器人製造的方式完成木構造桿件單元的製造。此外，結合上述的系統與參數化模型的調整，可及時產出相對應模型結構單元的大量客製化製程，並且有效率的透過六軸機械手臂與轉盤的生產線來完成製造。期待在本研究完成後能提供後續的研究者參考，使得未來機械手臂製造於建築的應用上有更寬廣的發揮空間。

關鍵字

機器人建造；規格化木材；參數化模型；互承結構；榫卯設計

並列摘要

Facing the violent changes in today’s global environment, the eco-friendly, energy-saving and sustainability concept is gradually valued by the architectural industry in modern times. Compared to the reinforced concrete (RC) method that is high in pollution and energy-consuming and cannot be recycled as being used in modern buildings, timbers belong to the naturally grown architectural materials that are not only lighter in weight but also allow for storing carbon elements and biological decomposition. After being processed with today’s technology,wooden materials will be provided with vibration resistant, fire prevention and insect-resisting advantages. Along with the rise of sustainable environment issues, the development of wooden structure buildings should not be treated lightly in the future. To achieve more efficient production and fabrication, the multi-purpose machines are used by the timber business after the Third Industrial Revolution to elevate their productivity and efficiency. Facing the popular trend in using computer software to support the fabrication, the industry is starting to carry out production by combining CAD (Computer-Aided Design), CNC (Computer Numerical Control) and Robotic Fabrication to accelerate the development of timber fabrication technologies and to create newer possibilities. This research is focusing on the automated process using the robotic arm as the main tool. Based on the structural features related to the timber properties, the reciprocal frame is used with the tenon and mortise for designing the geometrical frame that can present multi-angle changes. This research comprises following four sectors: 1) Using the geometrical component resulting from the conventional Luban Lock as the referential basis by which the pattern and angle adjustable parametric tenon and mortise model is produced with CAD software. In the meantime, the basic arch-shaped structure is also drafted through the research of the geometric relationship of the reciprocal frame. 2) Based on the robotic arm OLP (Off-line Programming) and the robot fabrication method, the side-milled route of the robotic arm and the system layout is tested to re-program the process according to the structural model designed for the aforesaid sector so that it can be put into the actual manufacturing process. 3) Establishing the system that is configured by combining the tenon-and-mortise and reciprocal frame where it will be applied to a continuous geometric surface subjected to multi-angle change to design the outline and the configuration of the pavilion. In the meantime, the robotic process is also adjusted to complete the fabrication. 4) The recording for the process and the results related to the assembly and construction of the fabrication. Previously, the complicated wooden structure using the tenon and mortise or the reciprocal frame system is normally fabricated by relying on exquisite carpentry workmanship and techniques. In this research, the wooden bars are designed with the robotic OLP and then fabricated with the robot. By combining the aforesaid system and adjusting the parametric model, the mass customization process corresponding to the model structure unit can be developed. In this way, the fabrication can be completed efficiently through the production line executed by the 6-axis industrial robot and the extra axis. It is hoped that the research results can be used by the researchers in the future so that a broader space will be allowed for using the robotic fabrication in the construction of buildings.