Portfolio of Guanqi ZHU About Design Computation and Robotic Fabrication
SCRIPTING & FABRICATION { The computational tools and techniques will even more significantly affect the processes of design, the definition of the discipline of architecture, and the connection of the work to us and to society. }
BODY & SPACE { Motions often connect with time. Time, trail and space are three basic concepts of body space which any of them could not be ignored when we research on body's motion. }
PREFACE Within the last decade, the appearence and evolution of the new digital technologies have begun to define a digital continuum from design to production, from form generation to fabrication design. This book is about algorithm-driven design, digital fabrication and human body space, which are the topics I researched in recent years.
Guanqi ZHU Designer, programer
Address: 904 Rongye Road, Heping District, Tianjin, PR.China Phone: +86-186 2271 8818 E-mail: guancizhu66@gmail.com
# Education:
# Work Experience:
Sept.2010 - Jun.2015 Tianjin Chengjian University, College of Architecture Bachelor of Architectural Design
Sept.2015 - Now BIM department, Tianjin Light Industry Design Institute Chief Engineer, Consultant
# Honors and Awards:
Oct.2016 - Feb.2017 BIM Design Center, Tianjin Architecture Design Institute Digital Design consultant
Nov.2017 Autodesk Excellence Awards(AEC), building category, second place award
May.2015 - Jun.2015 Shanghai BFun Studio Designer (working online)
Jun.2015 Excellent graduation project
Oct.2014 - Dec.2014 Cairo International Planning Company Limited Intern data analysist & digital designer
Mar.2014 Student’s works exhibition of exchange programs of architecture schools of China Mar.2013 Outstanding student leaders of School Student Union
Jun.2014 - Jul.2014 Jingbeiji (Beijing) Construction Consultants Ltd Intern Designer
Jan.2007, Jan.2008 National Olympiad in Informatics in Provinces grade 3(language C)
Jan.2014 - Apr.2014, Jan.2013 - Feb.2013 Tianjin University Research Institute of Architectural Design & Urban Planning Intern Designer
Jan.2004, Jan.2005, Jan.2006 National Olympiad in Informatics in Provinces grade 2(language Turbo Pascal)
Jun.2013 - Aug.2013 Tianjin, Moshe Studio Intern Designer
Jan.2003 National Olympiad in Informatics in Provinces grade 1(language Basic)
# Teaching Experience: • Beijing, AA Visiting School Tutor, preparing for the course, focusing on big data driven analysis design • Shanghai, RAC Studio TA, Rhino&Gh intro class, parametric digital model
Expected Dec.16th, 2017 - Dec.24th, 2017 Sept.10th, 2017 - Nov.25th, 2017
• Beijing, Tsinghua Parametric Design Workshop TA, program for digitial fabrication, tools and platform design, construction
Jul.20th, 2017 - Jul.29th, 2017
• Beijing, Three-dimensional data analysis and visualization summer workshop TA, translation, solving student's question
Jul.11th, 2017 - Jul.18th, 2017
• Ningbo, School of Architecture & Built Environment, UNNC summer workshop TA, kuka robot intro class, parametric digital model
Jun.15th, 2017 - Jun.23th, 2017
• Beijing, Three-dimensional data analysis and visualization summer workshop TA, translation, solving student's question
Feb.10th, 2017 - Feb.18th, 2017
• Beijing, AA Visiting School Beijing TA, concept, Rhino&Gh intro class, preparing prototype parametric models
Dec.16th, 2016 - Dec.24th, 2016
• Shanghai, LCD Summer Workshop TA, concept, prototype, coding the folding program, tools and platform design • Shanghai, 'Tooling' Digital Design Studio TA, Grasshopper intro class
Aug.6th, 2016 - Aug.14th, 2016 Nov.22nd, 23rd, 29th, 2014
# Other Information: Languages: Chinese (Mandarin): native English: fluent Computer Skills: Rhino&GH, Autodesk Building Design Suite and Adobe Suite
Program Language: Python, Processing, p5.js Hobbies: Traveling, photography
# TOPICS
SCRIPTING { python, processing, p5.js, C# and grasshopper with its plug-ins }
BODY & SPACE { Motions record and reproduce, trails, time-lapse photography }
PARAMETRIC GENERATION AND PERFORMANCE { innovative design, parametric design, form finding and vitruvian effect }
FABRICATION { KUKA|prc, KUKA robotic arm, tools, milling, material practice and on-site construction}
# CONTENTS
2016
Project 1 Running in Bubble THAD & AA Visiting School Beijing 2016 Su(pe)rReal 3.0
042
2017
Project 2 Robotic Wooden Construction Tsinghua Parametric Design Workshop
042
2016
Project 5 Metal Folding Vault LCD-Design Lab Summer Workshop
042
2017
Project 2 Robotic Choreography School of Architecture & Built Environment, UNNC 2017 Summer Workshop
042
2016
Project 6 Adaptive facades Competition of Lighttowers along the East Bund ¡ Shanghai
042
2017
Project 3 Wooden Tunnel RAC Studio
042
Other Works Coding Works, Professional Design Works, 3D Printings, Photographies
042
# Running In Bubble THAD & AAVS Beijing 2016 Su(pe)rReal 3.0——Data. Design. Water Cube
Dec.2016 Tutor: Xin Wang, Qiang Chang, Ziwei Zhu Teaching Assitant: Guanqi Zhu Students: Peiyi Wang, Xuehui Yang, Zhuo Zeng, Siyu Shen, Xinyue Wu, Siyu Jiao, Wenying Li, Guoqing zhang, Ruoxuan Wang, Pengnan Liu, Ran Li, Yu Tang, Wei Qi Contribution: Concept, photography, program, game process design, intro of grasshopper, 90% drawing
THAD & AAVS Beijing 2016 Su(pe)r Real 3.0-Data.Design.Water Cube
INTRODUCTION
“Running in bubble” is a VR game developed through algorithmic process. As an innovative game for 2020 Olympic Winter games, the project’s intention is to attract people to experience the postures as well as the feelings of sportsman in the competition. The space generated from body is the core point what we want to explore. In the game scenario, players are invited to experience three types of sports that are set to three levels and play modes Butterfly Swimming, Surfing and Badminton. Players will grow in size after passing through each level of the game, which will grow into a giant to take an overall view of the Beijing National Aquatics Center in the end.
// Concept
A
'research of body and space'
In the beginning stage, we concentrate on researching the relation between time, trail and space according to the experiments by several former scientists.
A
'game'
'Wall is coming' is a traditional TV game that challenges players to remain in an assigned posture to get through the body silhouette shaped holes on the wall. We try to break the restriction of the game through multisensory virtual reality technology. Seeing the exploration of body movement of different sports, the game can get the players to experience different sports in various VR scenes.
AA
'virtual reality experience'
The space that generated from trails and motions is recorded by camera and reproduced in VR games. Then, the character could move in the virtual world coresponding to the players' movement in real world.
'The Horse in Motion' by Eadweard Muybridge, in 1872. The first experiment to record a series of action. The human eye could not break down the action at the quick gaits of the trot and gallop.
'Nude Descending a Staircase 'by Marcel Duchamp. It is a manifestation of time and space reflected by abstract movement.
'WALL IS COMMING!', a traditional game in a chinese variety show.
VR games, allows players readily to experience and immerse in the virtual world by putting on the device.
Screenshot in VR game.
Game player who has the same motion corresponding to the left image.
// Motion Research
Foucing on different sports, we concentrate on collecting diverse kinds of sport videos, and then record the trails of the body movement frame by frame. After arranging these frames in a line, the program will produce amount of curves which could enclose the player. These curves will constitute the prototype of the game scence.
Time
0'01''
0'20'' 1'05''
1'23''
3'01''
4'03''
5'02''
6'14''
7'19''
// Generate the space
1.Overhead clear
2.Backhand drive
3.Forehand drive
4.Backhand hit
5.Forehand hit
6.Overhead clear
// Curvature analysis
It needs a little tricky to accomplish this effect with various radium of circle but the
Curvature growth rate
distribution of these circles is according to the curvature simultaneously. To achieve this result, I met one serious problem, that is, the number of the curvature of any point on the curve may super big or super small due to different point, so it is hard to use curvature as a reference number to divide the curve into points.
Therefore, I converted this problem into a math question. I choose to use curvature growth rate to redefine the variety of the curve. It is due to the growth rate is a relative number which is less likely to have a super big difference. And then, by dividing the x axis, I could gain the t evaluation number on curve.
Curve
// Reproducing with gradient
Different stage has different method to reproduce the space, although the algorithm of the process are same.
Level 1
Level 2
Level 3
'Level 1 - Butterfly swimming'
'Level 2 - Surfing'
The butterfly (colloquially among
Surfing is a surface water sport in which
swimmers known as fly) is a swimming
the wave rider, referred to as a surfer,
stroke swum, with both arms moving
rides on the forward or deep face of a
simultaneously in water.
moving wave, which is usually carrying the surfer towards the shore.
'The Water Track'
'Streamline Pipes'
Swimming is a sport that uses arms and
Sea wave is fast and furious. Thus, we use
legs to move the body through water.Thus,
strip as the basic theme in this scence. By
the space is designed as a semi-closed
setting the surface material, player could
and transparent space with water material.
enjoy the speed oversea.
'Trail'
'Trail'
'Level 3 - Badminton'
Badminton is a racquet sport using racquets to hit a shuttlecock across a net.
'Bubble Bath'
Encompassed by bubbles, the density of bubbles illustrates the range of motion's variation instantaneously.
'Trail'
// Game Process Design
1. We used 3D scan device to restore the
2. A coin was used to begin the game.
3. By touching the icon in the unreal world,
real scence as the background environment
the game started. Then user could feel
of the game.
a series of 'wall' with curvature gradient moving to him.
4. Trail was reproduced from celebrities'
5. If the user's motion overlaped with trails,
6. Finally, the system would rate a score
videos, whch is used for users to simulate
the curves would be turned to red, which
according to your performance.
the correct motions.
means the posture was correct.
// User Experience
level 1
level 2
PROGRAM IS OPEN-SOURCE: https://guanqizhu.com/Running-In-Bubble
level 3
VIDEO IS AVAILABLE
Video Link: https://youtu.be/QKCPoysesgY Name: 'Running in Bubble‘ Time: 2'55'' Music: 'Children-Robert Miles' Media record and cut: Guanqi Zhu
SCAN OR CLICK
# Robotic Wooden Construction Tsinghua Parametric Design Workshop 2017
Jun.2017 Director: Lei Yu Assistant Tutor: Guanqi Zhu, Zhi Li, Bowen Miao Students: Nanxi Su, Zhengzhi Shi, Arnold Zhang, Huili Li, Zhengtao Liu, Pengxiu Tong, Hanqing Zhang and Zhihao Zhang Contribution: Scripting in GH with KUKAprc, milling platform design, foundation design, photography, students management, basic software intro class and 100% drawing
INTRODUCTION
This workshop proposes to fabricate a bridge which has a structurally efficient form. Integrating with the solidThinking Inspire 2017, an industry leading structural analysis and optimization software, a reasonable model is obtained readily and quickly. According to the analysis and simulation result of the Inspire, the reverse engineering technology is used to simplify and extract the core structural line in order to use wood sticks to simulate the optimized shape. Inspired of the Chinese traditional furniture's mortise-tenon connection, it allows us to combine two wood sticks efficiently. Based on the analysis of the source, characteristic and type of mortisetenon structure, the implicit concept of 'harmony between man and nature' and green design could be extracted. In order to realize the modernized production of tenon and mortise connection, a parametric design system with characteristic mortise-tenon structure modeling technology was developed on the Rhino&Grasshopper platform. Due to the bridge is completely consisted of environmental-friendly material, all the components could be recycled or reused in other project after the exhibition.
// Optimization in solidThinking
Too many structural components are de-
Group A
signed with more weight and material than what’s actually required. With solidThinking Inspire, structurally efficient parts are easy to design -- saving cost, strengthening durability, and improving safety.
Group B
Group C
Group D
Group E
// Form and Force
In the form finding stage, we utilize solidThinking Inspire to help us to generate a structurally efficient shape. By iterating several times, Inspire will analysis loading conditions to generate the ideal shape. While the result from Inspire could not be used to fabrication directly, we could refine an accurate model by using reverse engineering and PolyNurbs.
// Grouped Fabrication
The bridge is composed of hundreds of distinct length of wood sticks and paper pipes. To boost the efficiency of processing, dividing whole components into several groups which have same geometry proporty and material proporty is a good option. Instead of according material to group, we consider that it could be divided into 4 group due to the different craftworks: 'end to end milling group', 'mortise-tenon joint milling group', 'cutting group' and 'foundation group'. Furthermore, the fundamental distinction of group is the logic of the program controlling the robotic arm is different. Therefore, in a group, the craftwork is same, which allows for efficient procedures with the modularization design and pipeline technology.
Group 1: 80mm wood sticks
There are 23 pairs of wood sticks joined end to end in this group, which located on the edge of the bridge. Each end of the combination would be connected to paper pipe. Some wood stick of this combination has a mortise used to connect to the opposite side or joined to the main stucture.
Group 2: 80mm T-junction wood sticks
It is obvious that group 2 occupied the most part of wood sticks in the project, simultaneoulsy it is also the time-comsuming part due to the complicated workcraft. There are two kinds of wood stick. One needed to be milled a mortise in the middle of the wood stick and which appreciate to the inner radius of paper pipe. The other one had to be milled a tenon
Group 3: 80mm paper pipe + 110mm paper pipe Although the amount of paper pipe components seems huge, it could be finished qucikly. Using the sliding table saw, it was quite simple to split the paper pipe according to the data exporting from grasshopper.
The orange cylinders illustrate the wood Group 4: 110mm wood stick + concrete foundation
sticks with 110mm radius. As the main loading structure, it is undoubted that it would thicker than the other part. However, when mortising out a channel for a 80mm wood tenon, it will have a larger contact area with the drill, which had to slow down the speed of movemont.
41.7
35.3
BB-BE 60.3
63.6
CU-CS
NL-MN CN-CL
43.3
65.
7
AV-AW
AR-AS
56.9
43.6
AG-Z 65.8
QK-QI
49.4
AU-AT 77.
BN-BD
66.3
8
MR-MT
47.4
BA-BF
74.
8
D-C
MX-MZ 67.5
NG-NF 82.
0
46.9
E-G
PF-PC
71.8
82.
9
68.9
OV-OY
AR-AS 71.2
PD-PE MN-MP
83.
1
OZ-OX QQ-QP
DK-DJ
// Various Degrees Between Sticks
35.2
CW-CR 32.4
32.2
45.4
Due to the fact that the process of reverse engineering was
PA-OU
hard to control, the degrees of the wood stick combinations in group 2 were distinct, ranging from 83.1° to 32.2°. At the same time, Group 2 occupied the majority of components which need to be milled mortises. The length of each wood
45.4
sticks could be calculated and counted by Grasshopper readily, BQ-BH
and then the sliding table saw was used to cut the raw wood stick into different parts using the length information. Labeling indexes on wood sticks was necessary as soon as we splited a part of wood stick from raw material.
L-K
// The Joint Between Two Wood Sticks
However, what we gained from reverse engineering was a group of center lines of wood sticks and paper pipes. When we tried to use the ‘pipe‘ command in Rhino, we released that when degrees smaller than 35°, the grey stick nearly be penetrated by the orange one. Therefore, we determined that a safety line was necessary to ensure the grey stick has enough thickness, which means the length of orange stick should be shorten accordingly. After several tests and analysis, we set 50° as the tipping point. Thus, if the orange longer than the safety line, it will be shortened to appropriate length when exporting the data of length.
// Trails
Simply, we only have two kinds of joints: wood stick to paper pipe and wood to wood. In the first kind of joint, we just need to reduce the diameter of wood stick from 80mm to 76mm so as to adopt to the inner diameter of paper pipe (TYPE C). When it comes to the second joint that is connected between wood sticks, we need to utilize the other four types of trails to realize the joints.
TYPE A
TYPE B
TYPE C
TYPE D
TYPE E
// Working Environment
We fabricated these components in a reconstructed container, where we divided the space into three parts:
1. 80mm wood raw material
cutting, milling and assembling. In the first area, we used sliding saw table to split the raw material into
2. 120mm paper pipe
different parts according to the data exported from Grasshopper, and then we labeled them. In the milling
3. 80mm wood raw material
zone, by fixing the wood sticks into the platform designed by ourselves, a kuka robotic arm with milling cut-
4. 120mm paper pipe
ter was used to carve out the tenon and mortise on wood sticks. A dust wiper was used to collect sawdust
5. Sliding table saw
on the ground simultaneously. Due to the fact that there were two sizes of diameters. Wood sticks with
6. Preparing for milling
80mm diameter were fixed in a 3d-printed groove and tightened up by carpenter’s clamp. Those sticks with
7. Control panel
120mm diameter were fixed in air-actuated clamp so as to avoid the unstableness when high-speed milling
8. KUKA KR 90-270 R3100
cutter carved the sticks. After the milling process, those fabricated components were collected together ac-
9. Milling cutter
cording to labels in the third area, and then they were packed for delivering to the construction site.
10. Joint test area 11. Air pump 12. Dust wiper 13. Finish
4 3
1
12 13
8
11 9
7
2
10
5
6
// Milling
This is a series of screenshot sequences
Sequence: 001
Sequence: 002
from the recording of the milling process.
Time: 0'01''
Time: 0'38''
Sequence: 006
Sequence: 007
Time: 2'29''
Time: 2'45''
Sequence: 011
Sequence: 012
Time: 4'45''
Time: 5'04''
Normally, each stick needs around 5 minutes to be milled a mortise. Although the speed of milling cutter was 300 revolutions per second which is the maximum of the machine, especially when the contact length was over 5cm (Sequence 005-009), slightly shake could not be avoided. Therefore, we had to slow down the moving speed of the robotic arm, which expanded the process time.
Sequence: 003
Sequence: 004
Sequence: 005
Time: 1'13''
Time: 1'41''
Time: 2'05''
Sequence: 008
Sequence: 009
Sequence: 010
Time: 3'11''
Time: 3'45''
Time: 4'13''
Sequence: 013
Sequence: 014
Sequence: 015
Time: 5'37''
Time: 6'01''
Time: 6'16''
// Construction
// Media
PROGRAM IS OPEN-SOURCE: https://guanqizhu.com/Robotic-Wooden-Construction
VIDEO IS AVAILABLE
Video Link: https://youtu.be/0n8QfceH_0Q Name: xxxx Time: 4'01'' Music: xxxx Media record and cut: Guanqi Zhu
SCAN OR CLICK
# Metal Folding Vault import rhinoscriptsyntax as rs
import ghpythonlib.components as ghc
import ghpythonlib.components as ghcomp import ghpythonlib.parallel
LCD-Design Lab Summer Workshop ro=x
i=0;j=0
y=int(y) a=[] #print ghc.ListLength(x) for i in range(0,y-2): if (i%2==0): ro_angel=ag1[i] Aug.2016
a.append(ro_angel)
else:
Director: Xin Wang, Nan Jiang ro_angel=ag2[i] a.append(ro_angel) #
print i,’-I-’
Assistant Tutor: Guanqi Zhu ro_sur=[]
ro_over=[]
#得到剩余的面 Students: Zhuoran Quan, Jiaoyue Zhao, Zhi Li, Guanyu Zhao, Chao Tu, for Chen, j in range(i+1,y): Jing Tingting Jiang, Xiaobo Qian, Ruiqi Ni #
print j,’j’,i,i+1
ro_sur.append(x[j])
Contribution: Script the folidng program, basic software intro class, #得到以前的面 for j in range(0,i+1): platform design, detail design, photography, students management # print j,’jj’,i,i+1 and 100% drawing ro_over.append(x[j])
sur1=x[i] sur2=x[i+1] curve=rs.IntersectBreps(sur1,sur2) curve_start=rs.CurveStartPoint(curve) curve_end=rs.CurveEndPoint(curve) curve_vector=rs.VectorCreate(curve_start,curve_end) curve_mid=rs.CurveMidPoint(curve) result=rs.RotateObjects(ro_sur,curve_mid,ro_angel,curve_vector,True) #
print ‘jj’,ghc.ListLength(ro_over),ghc.ListLength(result) number=ghc.ListLength(ro_over) for j in range(number,y):
#
print ‘no.’,j,result[j-ghc.ListLength(ro_over)],x[j] x[j]=result[j-number]
INTRODUCTION
The core concept of this project is to explore the infinite diversities and possibilities in sophiscated origami form with the assosiation of scripting, and then the form would be built in a large scale subsequently. When it comes to the form and force, we would like to maximum the utilization of a paper strip to generate a structurally efficient vault by multi folding repetitively. Thus, the digital origami simulation is extremly significant, because doing physical paper model is timewasting comparing to simulate it in an approciate program which could boost the efficiency of form-finding. Simply modifing the parameter in the program, people could readily gain the data of size and degree which used to fabricate. The digital linkage also established an advanced environment for interactive digital generation and performance simulation.
// Folding Program
30°-170°
Pieces: 40
30°-170°
Gradient:1/6
Pieces: 25 Gradient:1/6
It is hard to realize that the significance of degree between different panels which may effect the whole shape tremendously. However, using physical model to simulate is time-consuming and inaccurate in small scale model. Thus, in the form-finding phase, I scripted a program in Python so as to provide numerous possible folding shapes efficiently in a certain concept .
30°-170°
Pieces: 25 Gradient:1/11
30°-170°
Pieces: 25 Gradient:1/11
30°-170°
Pieces: 15
30°-170°
Gradient:1/6
30°-170°
Pieces: 25 Gradient:1/11
Pieces: 25
30°-170°
Gradient:1/3
30°-170°
Pieces: 25 Gradient:1/11
Pieces: 25
30°-170°
Gradient:1/9
30°-170°
Pieces: 25 Gradient:1/11
Pieces: 25 Gradient:1/11
30°-170°
Pieces: 25 Gradient:1/11
// Math concept
The concept of the shape comes from the germination process of leaves. During this stage, leaves appear to grow in a spiral trail when they expand their surface area. We believed that it has some math logic behind this process and then we found that the variation of the shapes have close connection with the degree after lots of researches. The main topic of the form finding is clear, that is, to explore the relation between shape and degree.
// Origami Prototype
And then, we choosed two kind of material to do some physical prototype models to test our concept. In the first stage, using the thick paper as origami media, we folded the paper strip according to some creases we traced to the paper before. At the same time, we also focusd on its bearing capacity. In the second test, a piece of aluminum sheet from zip-top can was used to simulate. During the prototype phase, we found that it was hard to control and fix the degree folidng by hand. Thus, in the real constructuion, we need some more precise methods to fabrication the final sprial shape.
// Plan & Elevation
Planar sheets (unfold)
Front View
Top View
Elevation
544.2
Group A 729.5
952.2 952.2
562.2
707.2 507.1
562.7
705.2 510.8
92.8
Group D
Group E
Group F
734.8
1019.9 535.0
84.2
739.3
972.7 76.9
510.0
1037.4 731.2
1037.4 544.4
81.5
487.1 998.7
734.8
737.3
998.7 524.0
80.6
972.7
737.3
84.2
522.2
79.6
465.3
Group G
556.9
86.5
1019.9
731.2
718.7
1057.4
83.0
506.0
85.9 1057.4
725.9
556.9
90.7
510.0
547.4
718.7
1057.4
706.0
1035.6
90.7
1057.4
709.3
78.1 1035.6
705.2
85.9
547.4
705.3 509.9
709.3
522.3
91.5
1004.9
558.6
709.3
1048.4
78.6
1004.9
92.3
1048.4
706.0
77.2
440.1 739.3
73.2
711.5
502.0
707.2
80.0
553.0
969.4
564.1
78.4
1021.3
78.0
969.4
92.8
1021.3
705.3
718.9
78.4
987.3 92.4
556.1
91.2
987.3
711.5
Group C
718.9
493.8
89.1
Group B
77.0
942.9 741.6
942.9 491.9
// Exploded Panels
Through the early folding simulation algorithm, a final shape established based on the analysis of form and force. Overall we have 28 pieces of metal sheets which be divided into 7 groups each 4 pieces.
// Marshalling folding unit
By exporting the data from Rhino, we could use the CNC laser cut mechine to prepare the folding sheets. Each cut set is composed of four unit panels and each two group archiored by rivets.
// Pattens Tests
Initially, we thought that the holes or patterns may be reduce the weight of the structure. Thus, we tried several types of patterns with different shapes and sizes. However, after several tests of 1:1 prototypes, we realized that some patterns may weaken the materialization during being bent. Especially the type A, the iron sheets are not likely to bear the weight and force from other panels, not least because the direction of patterns and the direction of force are parallel.
Type A
Type B
Type C
// Foundation
// Seams
The thickness of steel sheets may exert a negative impact on the apperance when bending on some special degree. Thus, it is necessary to cut down some parts of panels so as to have a positive visual effect. Obviously, the Type C is the best choice after several tests.
Type A
Type B
Type C
// Working Environment
The working area of the robotic arm is restricted in a 6m*6m area where is enough to finish the folding process. Taking into account safety factors, it is a bit of dangerous when students replace the folidng unit. Therefore, we set the BCO in a safe place where the bottom of the robotic arm is far away from the working platform.
// Folding Tools
Gasket1 Gasket2 KUKA Robotic arm KR90-270 R2700
Flange layer
Connection Plate Pressure Plate
1 Flange layer
2 Gasket
3 Connection Plate
4
Pressure Plate
Hexex Tap Bolts
5 Assembly
Used to connect
Enhance tensile
Enlarge the connectting
The irregular shape is designed for different panel
All the parts are welded together
different parts.
strength.
area with pressure plate.
shape, avoiding collision when folding.
and then bolted with the bottom of robotic arm.
// Working Platform
Fixing Hex Nut The purpose of the platform is not only to fix the metal panel but also to achieve the continuous folding, which means a piece
Platform
of metal could be folded multiple times so as to reduce the connection joints between different panels.
Bottom Plate
Also, several vertical square metal pipes used to reinforce the whole platform. In order to avoid panels intersecting with the platform when folding continuously, the platform is designed into a frame shape.
Reinforcement
// Processing
1. The screw bolts are wielded on the
2. The joint between platform and
3. Lock the hexa tap bolts to fix the
4. Move the tool from BCO to the top
bottom plate.
steel plate.
metal panel.
of the desk according to the program.
5. Falling down vertically. The
6. Move in a arc trail to bend the
pressure plate happened to orient with
panel.
the edge of the platform. It will wait 1 second so as to check the mistake between tool and platform edgeto make sure that there is no mistake.
7. Retrun to BCO.
8. Finish.
// Tradition VS Modern
Traditional bending machine VS KUKA
Single fold VS Continuous fold
In the past, metal sheets could only be
The development of digitial fabrication
folded in a same degree. The machine
creates more possibilities in factory with
is shown below in blue color. However,
the advanced technologies. The traditional
by using KUKA robotic arm, sheets can
machine could only fold once due to the
be folded with different degrees. We can
fact that there is no space for multiple
see in the final shape that the degree of
folding. While in this case, using robotic
every two panels are different.The degree
arm, we could fold an irregular panel for
of traditional bending machine is fixed
multiple times, which is the reason why we
when working. If workers want to adjust it,
designed the frame platform.
wrong opreation process may cause great damage to workers. Thus, the robotic arm could tremondously improve efficiency and enhance the quality of production. Also, it is beneficial for reducing the involvement of human so as to provide a safe working environment.
// Media
1. Lock the hexa tap bolts to fix the
2. Prepare for folding
metal panel.
5. Rotate at a constant speed taking
6. After folding.
3. The bottom of the tool toches on
4. The pressure plate happened to
the edge of the table accurately
orient with the edge of the platform.
7. Prepare for assembly.
8. Finish.
the edge of table as axis.
PROGRAM IS OPEN-SOURCE: https://guanqizhu.com/Metal-Folding-Vault
VIDEO IS AVAILABLE
Video Link: https://youtu.be/xac10VUmvC4 Name: Metal Folding Vault Time: 2'00'' Music: 'The Born Winner' Media record and cut: Guanqi Zhu
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# Robotic Choreography School of Architecture & Built Environment, UNNC 2017 Summer Workshop
Jun.2017 Director: Xin Wang, Samo Pedersen Art Consultant: Le Guo, Nannan Assistant Tutor: Mengxuan Li, Guanqi Zhu Students: Ruizhe Qin, Honghao Yu, Changjia He, Mingyu Cheng, Shiyu Zhang, Yanhua Shen, Jienan Wang, Wei Zhu, Haoran Jia, Jiacheng Wen, Kaijie Yu, Yufan Shi, Tianyi Shen, Linpo Zhang, Ketong Xing, Zhuorui Li Contribution: Concept, program of motion, tools design
INTRODUCTION
This project focused on the space which is constructed by body movement, researching the variations between bones, muscles and skins under human’s subconscious control. An ambition of this project was to exploit a novel approach for creative long exposure photography by using the accurate movement of robotic arm where LED lights were fixed on the bottom. The body motions were recorded and translated to machine codes. Instead of only repeat those movements directly, the movement of robotic arm was to emphasis the characters of the movement and enlarge the scale, speed up or slow down, showing a more purer expression, which is beyond the range of human. It allows us to explore more about the three-dimensional space constructed by human. Under the guiding of the art consultants, researchers used their bodies to simulate different type of motions that expressed the weaving of arms, the curvature of muscles, enlarge the connection between emotional and physical.
// Small Scale
// Middle Scale
‘ Power of Shoulder ’
‘ Rolling of center ’
‘ Trapped ’
‘Small scale’ means that students are restricted in
The group topic is to research the range of motion in
In middle scale, students are required to move no
a circle of radius 1m. Standing in a fixed place, stu-
the circle regardless of standing or crouching.
more than a circle of radium 2m. ‘Trapped‘ means
dents could stretch their any part of body to do some
one person is locked up in a narrow room so she has
revolving or spiral movements.
to find another way to escape.
// Large Scale
‘ Scent and Heartbeat ’
‘ Follow Your Heart ’
‘ Brainstorming ’
‘Heartbeat‘ means the contraction of the muscles of
In large scale, students could move and wave arms
‘Brainstorming‘ describes a sense of anxiety that
the heart, or a perceived effect of it, just like the con-
freely. The artistic conception of ‘Follow your heart‘ is
generates from a person who has long been plagued
traction visualized on echocardiography.
that a person is searching for his inner voice
by a serious problem.
// Tools
Motions were recorded by video and reproduced in Rhino frame by frame. Combined with KUKA|prc, a plug-in in grasshopper focusing on exporting the move point location data, the trails could be represented and imitated by robotic arm. Some LEDs were fixed on a semicircular strip located on the bottom of the robotic arm showing the import nodes in the motions.
// With Different LED
On one hand, the variation of color could contribute to enhance the visual effect, while on the other hand, it allows us to utilize different color to present different scale of motions in the final photography.
// Media
PROGRAM IS OPEN-SOURCE: https://guanqizhu.com/Robotic-Choreography
VIDEO IS AVAILABLE
Video Link: https://youtu.be/Jp7euMGwYSE Name: Robotic Choreography Time: 1'00'' Music: 'Here We Are Again' Media record and cut: Guanqi Zhu
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# Adaptive facades import rhinoscriptsyntax as rs
import nlib.components as ghc
from scriptcontext import sticky as st import Rhino as r import System as s
Competition of Lighttowers along the East Bund ¡ Shanghai class Mover(object): def __init__(self): self.pos=[0,0,0] self.vec=[0,0,0] self.acc=[0,0,0] def applyForce(self,force): Sept.2016
self.acc=rs.VectorAdd(self.acc,force)
Group Members: Xin Wang, Shui Bai, Guanqi Zhu, Betty def update(self): self.vec=rs.VectorAdd(self.vec,self.acc) self.pos=rs.VectorAdd(self.pos,self.vec)
Contribution: Script the program of wind simulation, concept, drawing self.acc=[0,0,0]
def checkEdges(self): if self.pos[2]<0: self.vec[2]*=-1 self.pos[2]=0 if self.vec[2]<min:self.vec[2]=0 c=[] d=[] cx = frik; dis=[] re_dis=[] #windpoint=[65,-19,47] #windpoint=[ 8135.7533,14648.7841,6.5522] windpoint=[50,-10,6] for i in range(pop): if Toogle: comp=rs.Distance(windpoint,[rs.PointCoordinates(point[i])[0],rs.PointCoordinates(point[i])[1],rs.PointCoordinates(point[i])[2]]) dis.append(comp) else: dis=[] re_dis=[] range_dis=ghc.Bounds(dis) targetdomain=ghc.ConstructDomain(start,end) re_dis=ghc.RemapNumbers(dis,range_dis,targetdomain).clipped comp=ghc.DivideDomain(targetdomain,pop-1) comp_start=ghc.DeconstructDomain(comp).start comp_end=ghc.DeconstructDomain(comp).end comp_start.append(comp_end[pop-2]) ser=ghc.Series(0,1,pop)
INTRODUCTION
One of the purpose of this project is to is to simulate the effect of wind blowing. In the competition of 'Open Space leading down the East Bund of the Huangpu River', our team would like to combine the surrounding environment to the lighttower deisgn. Thus, we need to design a kind of facade covered with thousands of hinged lightweight aluminum panels and to simulate the effect of sway in the breeze so as to support the feasibility of the dynamic facade.
// City Vision
The competition is about designing a series of lighttowers along the bank of Huangpu river. When we investigated on site, the grass and the waves that blew by the wind inspired our idea. Thus, we realised that our core concept is to combine the lighttower with the arounding nature environment where the facades of towers could reflect feature of nature.
The grass that blows by the wind
The combination of water and land
The wind blowing over the river
Land eroded by water
Meandering rivers
Windmill
// Shape generation
After field research, we decided to generate the basic shape according to the direction of surrounding environment, such as roads, grassland, and riverside. In order to fulfill the concept of combination, sprial shape became the starting point before designing facades.
// Structure
Circle panels
Rotation axis
Grid system
Main structure
Reinforcement
Form surface
Lighttower
// Kinetic energy and friction
In order to simulate the effect of panels swaying in the breeze, I pretend to calulate out the movement resistance between panels and structures so as to feel a sence of natural. When wind blows, a piece of aluminum panel could gain kinetic energy which allows it blow up and rotate around the fixed axis. However, friction gives movement resistance so just swing several times, it would return to original place and at rest.
// Simulation in Processing
// Media
PROGRAM IS OPEN-SOURCE: https://guanqizhu.com/Adaptive-facades
VIDEO IS AVAILABLE
Video Link: https://youtu.be/BuDGpijeb4U Name: Adaptive facades Time: 1'52'' Music: 'Walking With A Pet' Media record and cut: Guanqi Zhu
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# Wooden tunnel RAC Studio - Play
Oct.2017 Director: Le Luo Assistant Tutor: Guanqi Zhu
Group Members: Xintong Wang, Xin Wen, Jiani Huang, Ruoxi Lv and Jiada Ye Contribution: Script the form finding program
INTRODUCTION
Just as the topic of the studio-'Play', origami was utilized as the concept of form finding and the final shape was constructed into reality using square wooden sticks. The final result seems like a tunnel which include a series of motions. Coincidentally, this project combined the both two of my research fields: body & space and fabrication, although it did not involved with 'digital fabrication'.
// Concept
The basic concept comes from origami. If you use a knife to cut a piece of paper into several strips but not splitting it, when you push the opposite edges of the paper into central, the strips could be folded automatically according to an impression we set before. Thus, at the beginning stage of the design, I scripted a program to simulate the process. Subsequently, the folding program could be used to express a series of motions of peopleă&#x20AC;&#x201A;
// Play
The interesting point is, in the fabrication process, we experienced the traditional wooden cutting tools instead of using digital fabrication. It is obvious that the tolerance would be a problem during construction. Especially, for my part, all the activities involved with human would generate tolerance. However, although the components are not extremely accurate, it has no negative impact on the final result.
// Media
PROGRAM IS OPEN-SOURCE: https://guanqizhu.com/Wooden-tunnel
VIDEO IS AVAILABLE
Video Link: https://youtu.be/vLkP4Cybl4I Name: 'Rendezvous Pavilion' Time: 0''54'' Music: 'Crossroads' Media record and cut: Guanqi Zhu
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# OTHER WORKS
{ professional works, codings, models, photographies, publications and drawings }
// Professional Architecture Design Works (2013-2015)
Jan.2013 Tianjin University Research Institute of Architectural Design & Urban Planning (AATU) - No.7 Studio 4 weeks Director: Xuehai Bai Contribution: concept model and BIM model
Aug.2013 Tianjin Moshe Studio
Feb.2014 AATU - No.7 Studio
8 weeks Director: Sheng Zhang Contribution: concept, analysis, modeling
2 week Director: Xuehai Bai Contribution: concept, form research, site analysis, parametric modeling
Mar.2014 AATU - No.7 Studio
Mar.2014 AATU - No.7 Studio
April.2015 Shanghai BFun Studio
4 weeks Director: Chang Wang Contribution: concpet, site analysis, form research, parametric modeling
4 weeks Director: Chang Wang Contribution: analysis and modeling
2 weeks Director: Xin Wang Contribution: concept, parametric modeling about elevation
// Rhino+Grasshopper Researches
Surface influenced by sin(x)
Cellular Automaton
Fractal
Fractal tree branch
Electro-magnetic Fields
Apple's WWDC 2014 LOGO
// Processing Works { Some innovative program works focusing on vitruvian effect and algorithm}
// 3D Printing Dougong (2015) { Digital model, self-made 3d print machine, polishing, painted by air brush }
// Gallery of Photography (2010-2016) { Focusing on nature, human and animals, that's the topic of my photography }
// Drawing (2011) { Digital model, self-made 3d print machine, polishing, painted by air brush }
// Publishments (2011-2013) { Editor of College Journal including: activity interview, introduction of college, popularization of master's project }