TKU CAAD Robot Arm Programming & Robotic Fabrication
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Faculty Programme Director: Chen-Cheng Chen Tutors: Ching-Hang Lee Chung-An Huang You-Wen Ji Photography: Ming-Han Lee Kun-Pi Lee
CCCLab https://labccc.wordpress.com/ Digital AIEOU https://www.facebook.com/digitalaieou/
Table of Contents Introduction
1
Phase1_Milling2D a.Module-based pattern b.Algorithm-based pattern c.Tool-based pattern
2 6 30 44
Phase2_Milling3D a.Surface-based pattern b.Projection-based pattern
56 58 93
Phase3_Hot Wire Cut a.Module-based structure
102 108
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Introduction Current applications of robotic fabrication in architecture are mainly divided into two scopes which are orientation and end-effector. A basic example is to pick and place bricks with custom-made gripper mounted on robot arm and build a novel space what bricklayer could not achieve in conventional ways. Some existing projects of robot arms in architecture focus on the field of construction process aided by end-effector to develop advanced construction techniques or build mesmerizing space. Some other projects focus on the material performance not by change material ingredients but by coupling end-effector with 6-axis freedom to create special material properties. For example, the global performance of ceramic by handmade pottery become local behaviour of digital pattern and textile via data clay.
background
Both paradigms of robot arms in architecture rely on the oriented planes with precise paths and custom end-effectors to explore the possibilities and potentialities of digital tectonics. In order to train students to comprehend how to control, collaborate with robot arms and familiar with the CAD/CAM process from visual programming in design to g-code data in fabrication, we will focus on operating 3 dimensional orientation by pre-Fab end-effectors during the workshop.
purpose
The configurations of robot arms in this workshop are UR10 and UR5 from Danish manufacturer Universal Robots. The working radius and payloads of UR10 and UR5 are 850 mm, 5 kg and 1300 mm, 10 kg, respectively. Due to the limitation of payload and counterforce, we design and mount wood router and hot-wire bow cutter on robot arms as end-effectors to drill, mill and cut Styrofoam cubes(400*400*200 mm and 400*200*200 mm) so as to achieve the purpose of training orientation. And we hope to experiment interesting patterns via 6 degrees of freedom that we couldn’t produce the outcome through conventional 3-axis movement.
hardware configuration
Each design is developed in Rhinoceros 5, Grasshopper and Scorpion, an open-source plug-in to control Universal Robots and offline simulation for Grasshopper. The advantages of those GUI and visual programming software allow inexperienced students without specific coding skills to access robot control smoothly. The CAD/CAM workflow is to design spatial pattern in Grasshopper by manipulating data structure or using specific algorithms such as Voronoi, Field and Noise to produce parametric patterns and then obtain the working plane for orientation. The last step is using Scorpion to simulate path movement and generate g-code to upload to robot arms.
software environment
We hope students could understand the basic settings, operation principles, limitations of material and robotic fabrication through our 7 days training section in parametric design and robot arms operation. Most of all, we try to convey and establish mutual connections between computation tools, material performance, robotic fabrication strategies and design process.
vision
end-effector material
workflow method
1
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1_2D Pattern
a.Module-based pattern / Single Unit / Multi-Units b.Algorithm-based pattern /Voronoi /Field /Noise c.Tool-based pattern /hand-drawn /Tween & Rotate & Mirror & Array
2
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: 2D Pattern a.Modeule-based
b.Algorithm-based
c.Tool-based
3
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Original Pattern
4
Flank Milling Analysis
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Original Pattern
Linear Movement
Joint Movement
5
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Yi-chia Hsu
Phase 1: Milling (Pattern Generation) 2D Pattern 20*40cm
6
40*40cm
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Yi-chia Hsu
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
7
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
8
Yi-chia Hsu
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Yi-chia Hsu
Phase 1: Milling (Pattern Generation) Physical Model
9
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Wei-Ting Luo
Phase 1: Milling (Pattern Generation) 2D Pattern 20*40cm
10
40*40cm
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Wei-Ting Luo
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
11
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
12
Wei-Ting Luo
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Wei-Ting Luo
Phase 1: Milling (Pattern Generation) Physical Model
13
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Cheng-Huang Lin
Phase 1: Milling (Pattern Generation) 2D Pattern
20*40cm
14
40*40cm
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Cheng-Huang Lin
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
15
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
16
Cheng-Huang Lin
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation)
Cheng-Huang Lin
Physical Model
17
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Tse-Wei Lin
Phase 1: Milling (Pattern Generation) 2D Pattern
20*40cm
18
40*40cm
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Tse-Wei Lin
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
19
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
20
Tse-Wei Lin
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation)
Tse-Wei Lin
Physical Model
21
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shan-Chun Wen
Phase 1: Milling (Pattern Generation) 2D Pattern 20*40cm
22
40*40cm
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shan-Chun Wen
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
23
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
24
Shan-Chun Wen
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation)
Shan-Chun Wen
25
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Guan-Yi Siao
Phase 1: Milling (Pattern Generation) 2D Pattern
20*40cm
26
40*40cm
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Guan-Yi Siao
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
27
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
28
Guan-Yi Siao
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation)
Guan-Yi Siao
29
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Dai-Syuan Wu
Phase 1: Milling (Pattern Generation) 2D Pattern 20*40cm
30
40*40cm
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Dai-Syuan Wu
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
31
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
32
Dai-Syuan Wu
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Dai-Syuan Wu
Phase 1: Milling (Pattern Generation) Physical Model
33
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Kuan-Lin Chen
Phase 1: Milling (Pattern Generation) 2D Pattern 20*40cm
34
40*40cm
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Kuan-Lin Chen
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
35
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
36
Kuan-Lin Chen
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Kuan-Lin Chen
Phase 1: Milling (Pattern Generation) Physical Model
37
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Ken-ying Tseng, Zong-ru Wu
Phase 1: Milling (Pattern Generation) 2D Pattern 20*40cm
38
40*40cm
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Ken-ying Tseng, Zong-ru Wu
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
39
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Ken-ying Tseng, Zong-ru Wu
Phase 1: Milling (Pattern Generation) Simulation Miniiling Pattern Flank Milling Analysis
40
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation)
Ken-YngTseng, Zong-Ru Wu
41
TKU CAAD 2016 Robot Arm Workshop
Jing-Hua Lin
Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) 2D Pattern 20*40cm
42
40*40cm
TKU CAAD 2016 Robot Arm Workshop
Jing-Hua Lin
Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
43
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
44
Jing-Hua Lin
TKU CAAD 2016 Robot Arm Workshop
Jing-Hua Lin
Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Physical Model
45
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shih Yuan Chen
Phase 1: Milling (Pattern Generation) 2D Pattern 20*40cm
46
40*40cm
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shih Yuan Chen
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
47
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
48
Shih Yuan Chen
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shih Yuan Chen
Phase 1: Milling (Pattern Generation) Physical Model
49
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
You Ming Lin
Phase 1: Milling (Pattern Generation) 2D Pattern 20*40cm
50
40*40cm
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
You Ming Lin
Phase 1: Milling (Pattern Generation) Path and TCP Plan View
Perspective View
51
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Simulation
52
You Ming Lin
TKU CAAD 2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
You Ming Lin
Phase 1: Milling (Pattern Generation) Physical Model
53
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 1: Milling (Pattern Generation) Flank Milling Detail
54
55
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2_3D Surfe + Pattern a.Surface-based pattern / Geodesic / Curvature / Field b.Projection-based pattern / Relative Map / Irrelevant Map
56
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: 3D Surfe + Pattern a.Surface-based
b.Projection-based
57
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Dai-Syuan Wu
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
58
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Dai-Syuan Wu
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
Layer 04
TCP Working Process
59
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Simulation
60
Dai-Syuan Wu
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation)
Dai-Syuan Wu
Physical Model
61
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Kuan-Lin Chen, Jing-Hua Lin
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
62
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Kuan-Lin Chen, Jing-Hua Lin
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
63
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Simulation
64
Kuan-Lin Chen, Jing-Hua Lin
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation)
Kuan-Lin Chen, Jing-Hua Lin
Physical Model
65
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Ken-ying Tseng, Zong-ru Wu
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
66
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Ken-ying Tseng, Zong-ru Wu
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
67
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Simulation
68
Ken-ying Tseng, Zong-ru Wu
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation)
Shan-Chun Wen
Simulation
69
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shan-Chun Wen
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
70
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shan-Chun Wen
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
71
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Guan-Yi Siao
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
72
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Guan-Yi Siao
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
73
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Simulation
74
Guan-Yi Siao
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Jing-Hua Lin
Phase 2: Milling (Freefom Generation) Simulation
75
TKU CAAD
2016 Robot Arm Workshop
Jing-Hua Lin
Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
76
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop
Jing-Hua Lin
Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
Layer 04
Layer 05
TCP Working Process
77
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
You Ming Lin
Phase 2: Milling (Freeform Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
78
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
You Ming Lin
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
79
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freeform Generation) Simulation
80
You Ming Lin
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freeform Generation)
Shih Yuan Chen
Simulation
81
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shih Yuan Chen
Phase 2: Milling (Freeform Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
82
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shih Yuan Chen
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
83
TKU CAAD
2016 Robot Arm Workshop
Wei-Ting Luo
Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
84
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop
Wei-Ting Luo
Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
85
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Simulation
86
Wei-Ting Luo
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation)
Yi-chia Hsu
Simulation
87
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Yi-chia Hsu
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
88
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Yi-chia Hsu
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
89
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Cheng-Huang Lin
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
90
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Cheng-Huang Lin
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
91
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Simulation
92
Cheng-Huang Lin
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation)
Che-Wei Liu, Hsuan-Ming Chen
Simulation
93
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Che-Wei Liu, Hsuan-Ming Chen
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
94
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Che-Wei Liu, Hsuan-Ming Chen
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
95
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Tse-Wei Lin
Phase 2: Milling (Freefom Generation) Miniiling Surface Perspective
Miniiling Pattern Perspective
96
Elevation
Elevation
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Tse-Wei Lin
Phase 2: Milling (Freefom Generation) Surface_Path and TCP Perspective
TCP Working Process
Layer 00
Pattern_Path and TCP Perspective
Layer 01
Layer 02
Layer 03
TCP Working Process
97
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation) Simulation
98
Tse-Wei Lin
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (Freefom Generation)
Tse-Wei Lin
Physical Model
99
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (FreeformGeneration)
100
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 2: Milling (FreeformGeneration)
101
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3_3D Structure a.Module-based structure / Single Unit / Multi-Units / Fixed Section / Variable Sections
102
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: 3D Structure
Elevations
Basic Unit
103
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: 3D Structure
a.Module-based Multi-units with fixed section
Multi-units with variable sections
Section2
Section1
Unit5 Section2
Section1
Unit4 Section2
Section1
Unit3 Section2
Section1
Unit2 Section2
Section1
Unit1 104
0°
90°
180°
270°
0°
90°
180°
270°
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: 3D Structure
a.Module-based Multi-units with fixed section
Multi-units with variable sections
105
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut (FreeformGeneration) Detail of Mockup
106
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut (FreeformGeneration)
Process
107
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Yi-Chia Hsu, Guan-Yi Siao
Phase 3: Hot Wire Cut(Freefom Generation) TopView
Perspective
108
Prototype
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation)
Yi-Chia Hsu, Guan-Yi Siao
Freeform_Path and TCP
109
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation) Simulation
110
Yi-Chia Hsu, Guan-Yi Siao
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation)
Yi-Chia Hsu, Guan-Yi Siao
Rendering
111
TKU CAAD
2016 Robot Arm Workshop
Cheng-Huang Lin,Che-Wei Liu,Wei-Ting Luo
Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation) TopView
Perspective
112
Prototype
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Cheng-Huang Lin,Che-Wei Liu,Wei-Ting Luo
Phase 3: Hot Wire Cut(Freefom Generation) Freeform_Path and TCP
113
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation) Simulation
114
Cheng-Huang Lin,Che-Wei Liu,Wei-Ting Luo
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Cheng-Huang Lin, Che-Wei Liu, Wei-Ting Luo
Phase 3: Hot Wire Cut(Freefom Generation) Rendering
115
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Ken-Ying Tseng, Zong-Ru Wu
Phase 3: Hot Wire Cut(Freefom Generation) TopView
Perspective
116
Prototype
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation)
Ken-Ying Tseng, Zong-Ru Wu
Freeform_Path and TCP
117
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation) Simulation
118
Ken-Ying Tseng, Zong-Ru Wu
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation)
Ken-Ying Tseng, Zong-Ru Wu
Rendering
119
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Shan-Chun Wen
Phase 3: Hot Wire Cut(Freefom Generation) TopView
Perspective
120
Prototype
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation)
Shan-Chun Wen
Freeform_Path and TCP
121
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation) Simulation
122
Shan-Chun Wen
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut(Freefom Generation)
Shan-Chun Wen
Rendering
123
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut (FreeformGeneration)
124
Yi-Chia Hsu, Guan-Yi Siao
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut (FreeformGeneration)
Cheng-Huang Lin, Che-Wei Liu, Wei-Ting Luo
125
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut (FreeformGeneration)
126
Ken-YngTseng, Zong-Ru Wu
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Phase 3: Hot Wire Cut (FreeformGeneration)
Shan-Chun Wen
127
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Gallery
128
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Gallery
129
TKU CAAD
2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication
Students Cheng-Huang Che-Wei Dai-Syuan Guan-Yi Hsuan-Ming Jing-Hua Ken-Yng Zong-Ru Kuan-Lin Shan-Chun Shih-Yuan Tse-Wei Wei-Ting Yi-Chia You-Ming
Lin Liu Wu Siao Chen Lin Tseng Wu Chen Wen Chen Lin Lou Hsu Lin