分層模具輔助機械手臂織造

Layered Module Aided Robotic Arm Weaving Construction

呂亮穎(LIANG-YING LU)

指導教授 ： 陳宏銘

中原大學/設計學院/建築研究所/碩士(2022年)

https://doi.org/10.6840/cycu202200015

摘要

由於數位時代與科技進步，數位織造在電腦補助應用上發展出許多複雜的造型，在織造上複雜程度由路徑決定，而複雜的路徑施工上相對困難，大多使用機械手臂等機具進行繁瑣的路徑纏繞與精準定位。
現行織造建築應用上以司圖加特大學ICD/ITKE為主要技術發展，概念以減少模具使用量與大跨度之間對支撐及製造最具效率的製造方式，並依至今案例之組合方式分為單元構件（component）、混和系統（hybrid system）與連續製造（continuous），但在製程上大多使用多具大型機械手臂或需配合其他自定義機具使用，本研究除了減少模具使用外，同時減少機具使用量與操作簡易化降低織造施工的困難度，以單元構件與混和系統組合方式進行大跨度的施作，去除以往單元組合之間的連接構件，單純以纖維材料做連續的組合。
本研究數位製造上主要分為三個階段，從二維路徑操作機械手臂，定義織造基礎條件，並以各層纏繞錨點分層製作出分層模具，模具以類似擠出成形的方式擠出產生三維織造，以二維對應三維方式需互相對應路徑上的長度並增加移除層的使用，同時分析纖維材料上可接受的延展性誤差。第二階段由材料互承切入，纖維材具互承及勾線並繃緊時，其連接支撐性較佳，在二維路徑上則產生順序對應的三維互承，並依互承的層級分為L層層邊互承、H層對角互承與H層邊上點連線互承三種互承方式，互承路徑同時須產生附帶路徑以完成連續連線，附帶路徑同樣以能產生互承為主。第三階段連續製造，以大跨度拱型型態製造，使用模具下移擠出方式創造單元之間組合的拱型角度，參考ICD2019:Spatial winding: cooperative heterogeneous multi‑robot systemfor fibrous structures對於連續製造分類本研究介於單元構件與連續製造的混合系統，以模具錨點限制不變量，即可產生連續性的變化。 機械手臂空間織造的方法，皆是須以模具纏繞製造，本研究改變模具對於以往製造的維度，由二維轉三維的2.5D分層模具方式簡易化機具使用及操作程度，使織造破除以往對於高技術及高費用的製造限制，成為常民化構築的可能性。本研究中，討論路徑對於維度變化前後的型態影響，並整理出最有效率的構造流程，期待能提供後續分層模具織造設計討論面向參考。

關鍵字

機械手臂製造 ； 空間織造 ； 分層模具 ； 纖維材料

並列摘要

Due to the digital age and technological advancement, digital weaving has developed many complex shapes in the application of computer subsidies. The complexity of weaving is determined by the path, and the construction of complex paths is relatively difficult. Most of them use mechanical arms and other machines to perform cumbersome path winding. And precise positioning.
The current weaving construction application takes Stuttgart University’s ICD/ITKE as the main technology development. The concept is to reduce the amount of mold usage and the most efficient manufacturing method for support and manufacturing between large spans, and is divided into the combination methods of the cases so far Component, hybrid system, and continuous manufacturing, but most of the processes use multiple large robotic arms or need to be used in conjunction with other custom tools. In addition to reducing the use of molds, this research also reduces the use of tools. The ease of use and operation reduces the difficulty of weaving construction. The unit components and the hybrid system are combined for large-span construction. The connecting components between the previous unit combinations are removed, and the fiber materials are used to make continuous combinations.
The digital manufacturing in this research is mainly divided into three stages. The robotic arm is operated from a two-dimensional path, the basic conditions of weaving are defined, and the layered mold is made by layers of winding anchor points. The mold is extruded in a similar manner to extrusion. In three-dimensional weaving, two-dimensional and three-dimensional methods need to correspond to the length of the path and increase the use of removal layers, and at the same time analyze the acceptable ductility error on the fiber material. The second stage is cut in by the mutual support of materials. When the fiber material has mutual support and hooking and tightening, its connection support is better, and the corresponding three-dimensional mutual support is generated on the two-dimensional path, and the level of mutual support is generated. There are three mutual support methods: L layer edge mutual support, H layer diagonal mutual support, and H layer edge point connection mutual support. The mutual support path must also generate an incidental path to complete the continuous connection. The incidental path can also generate mutual support. Inherit as the mainstay. The third stage is continuous manufacturing, which is manufactured in a large-span arch type, using the mold
III doi:10.6840/cycu202200015
downward extrusion method to create the combined arch angle between the units. According to ICD2019:Spatial winding: cooperative heterogeneous multi-robot system for fibrous structures, the continuous manufacturing is classified This research lies in a hybrid system of unit components and continuous manufacturing. As long as the invariant remains unchanged (mould anchor point), continuous changes can be produced.
The methods of robotic arm space weaving all require the use of mold winding. In this study, the dimensions of the mold for the previous manufacturing were changed, and the 2.5D layered mold method from 2D to 3D simplifies the use and operation of the machine, so that weaving can break the previous constraints. High-tech and high-cost manufacturing constraints make it possible to build a commonplace. In this study, the influence of the path on the shape before and after the dimensional change is discussed, and the most efficient construction process is sorted out, and it is expected to provide a reference for the subsequent discussion of layered die weaving design.

並列關鍵字

Robotic Fabrication ； Spatial Winding ； Layered mold ； Fiber material

參考文獻

Jan Knippers, Achim Menges. (2014). ICD/ITKE Research Pavilion 2013-14. University of Stuttgart, Institute for Computational Design and Construction.

Jan Knippers, Achim Menges. (2015). ICD/ITKE Research Pavilion 2014-15. University of Stuttgart, Institute for Computational Design and Construction.

Jan Knippers, Achim Menges. (2017). ICD/ITKE Research Pavilion 2016-17. University of Stuttgart, Institute for Computational Design and Construction.

Jan Knippers, Achim Menges. (2019). BUGA Fibre Pavilion 2019. University of Stuttgart, Institute for Computational Design and Construction.

Jesrani Himanshi. (2015). Chapter 4:(Thin Hollow)Filament Winding. In Making It.