ACTUATED TEXTILE HYBRIDS (TEXTILE SMOCKING FOR DESIGNING DYNAMIC FORCE EQUILIBRIA IN MEMBRANE STRUCTURES) (26.416 CHARACTERS)
Viktoria Millentrup The Royal Danish Academy of Fine Arts CITAstudio 20. December 2018
This paper introduces Actuated Textile Hybrids, and
of the classic building envelope. This is to not only develop
describes the steps needed to steer the form finding processes
a smartly engineered sustainable skin but also a boundary
necessary for their production. The method presented employs,
object which, due to its adaptation, develops the potential
differing from current Textile Hybrid investigations, an
to interconnect with its surrounding to re-establish the
integration of an “activated� instead of a pre-stressed textile
relationships between nature, home and inhabitant.
membrane to design different stages of force equilibrium
1. INTRODUCTION / MOTIVATION
within the Hybrid Structure and to investigate the potentials of ever flexible shaping of tensile elements. The set-up for the Textile Hybrid consists of three main elements which
This research project investigates an alternative approach
are digitally and physically analysed in their inextricable
to the state-of-the-art methods of creating and analysing
interdependence in force, form and material. Together,
Textile Hybrids. The approach favours to design with and
the bending active beam (rod), the textile membrane and
differ between various stages of force equilibrium through
an applied pattern which actively shrinks surface areas
a contractible and therefore active membrane. This paper
of the membrane (activation), create the base for the form
presents the research motivation, background and state-of-
finding process. By finding form stability in internal force
the-art, methods, work in process results and evaluation,
equilibrium the boundaries of the membranes are mostly
discussion and conclusion.
freed from externally applied forces which gives the designer
My focus on Actuated Textile Hybrids is motivated by the
the opportunity to freely assemble and connect clusters
understanding that the primary design factor to the form
of Textile Hybrids to a greater system. Rather than a pre-
finding and aesthetic quality of the Textile Hybrid is the
stressed membrane customized for one shape, an activated
Textile itself. This makes it a central design concern that spans
membrane could allow the system to react to environmental
across different scales of consideration which are identified
changes to vary between different stages of deformation.
as the textile membrane and applied contraction pattern
Due to advanced Finite Element Modelling software
(micro scale), the resulting bending and rotation of the rod
and the architects resulting ability to engineer responsive
(meso scale) and the overall shape (macro scale). At the micro
building-systems for a dynamic environment, it is essential to
scale (textile membrane) the smocking pattern is the driver
rethink the construction methods and the building-material
for the form finding behaviour since the type and array of the
1
FORCE EQUILIBRIUM
pattern defines the excess of material inside the membrane and as a reaction a shortage of material at the border of the
A structure is in equilibrium when all forces or
patch. At the meso scale the new border condition bends the
moments acting upon it are balanced. Searching for
rod into its position of force equilibrium. At macro scale the
a structural system with an internally resolved force
torsion of each frame can be used to form-find a global shape
equilibrium, I am comparing the following typologies
by connecting single textile-hybrid-elements to a greater
to identify and position a suitable system for further
system. This relation between typology, structural forces
design investigations towards responsive textile skins.
BENDING- ACTIVE
and materialization creates the complexity which is aimed to be resolved in physical and computational prototyping to
The term “bending-active” describes curved beam
prospectively form-find a globally adaptive structure.
the elastic deformation of initially straight or planar
STRUCTURAL STRUCTURAL SYSTEM SYSTEM
MATERIAL MATERIAL
PROCESS PROCESS
TOOL TOOL
and surface structures that base their geometry on
TEXTILE TEXTILE HYBRID HYBRID
elements. Bending-active structures are understood to be an approach rather than a distinct structural type.1
TENSION TENSION TEXTILE TEXTILE MEMBRANE MEMBRANE
COMPRESSION COMPRESSION RODROD / BEAM / BEAM
FORM-FINDING FORM-FINDING TYPOLOGY TYPOLOGY
FORM-FINDING FORM-FINDING MEMBRANE MEMBRANE
TEXTILE TEXTILE MANIPULATION MANIPULATION MEMBRANE MEMBRANE
SIMULATION SIMULATION ACTIVE-BENDING ACTIVE-BENDING
SIMULATION SIMULATION FORCE FORCE EQUILIBRIUM EQUILIBRIUM
SIMULATION SIMULATION PATTERN PATTERN DISTRIBUTION DISTRIBUTION
MULTIPLE MULTIPLE MULTIPLE SHAPES SHAPES SHAPES ? ?
FORM- ACTIVE Form-active structures carry external loads by pure tension (cables or membranes) or pure compression (arches) without shear forces or bending moments. To achieve this, it is necessary to match the geometry of
Fig. A: Actuated Textile Hybrid Methodology Diagram
the load bearing structure to the flow of forces.1’
2. FUNDAMENTALS
HYBRID STRUCTURE Hybrid structure systems result from the linkage of
CATEGORISATION OF STRUCTURAL SYSTEMS
two systems of dissimilar internal load transmission
The categorisation of structural systems has played a
into a coupled system.1
TEXTILE HYBRID
significant role in developing mathematical calculation techniques that help analyse structures based on
The
interdependence
of
form
and
force
of
abstract static systems. Nevertheless, we no longer
mechanically pre-stressed membranes and bending
need to design structures to suit exclusively analytical
active fibre-reinforced polymers is classified as a Textile
calculation methods. The advantages of computational
Hybrid. The combination of a pre-stressed membrane
simulations, such as Dynamic Relaxation and Finite
and elastic bending allows the hybrid system to resolve
Element Modelling, offers new degrees of complexity and
the forces internally, thus the internalized equilibrium
efficiency in the design of structural systems.
minimizes externalized forces at the boundary. 1
1
ACTUATED TEXTILE HYBRIDS
“This potential also brings new questions to the role of structural engineers and their working method: if everything
Through minimizing externally applied forces the
is possible, what are the criterion for developing a functional
inner force equilibrium of the structure becomes the
and efficient structural system?” “Bending-active structures
focal point for designing the textile hybrid. Allowing
do not present an answer to these far-reaching questions but
the textile to tension and relax by an inner contraction
may contribute to the current discourse in their particular
pattern could expand the design possibilities towards
approach to developing various types of structural systems
shaping the element itself and likewise its distinct
based on the physical behaviour of elastic bending.”
movement.
1
1
1
(Knippers, Cremers, Gabler, & Julian Lienhard, 2011, p. 134-140)
2
3. STATE OF THE ART (TEXTILE HYBRIDS)
The first textile hybrid is a prototype developed as a part of a research project which focusses on the design
With the notion of creating a kinetic textile hybrid it
of tactile and responsive environments for children with
is necessary to elaborate on the following three projects
ASD. SensoryPLAYSCAPE (Fig. 1) contains bending rods
to identify the distinct qualities of state-of-the-art
and a form giving bespoke knitted textile surface which
research-based explorations to locate the potentials and
showcases the touch sensitive playground for children.
grounds for my own design investigation.
In order to make the structure climbable a secondary structure of rods is introduced to free the textile surface from most of the force flow, which is a conscious design decision but defers from the advantages of a classic textile hybrid in which the textile is the main active tensioned element.2 Lace Wall showcases this force-flow as a generative cable network which explores the combination of elements in tension and compression (hybrid structure) to form a wall. Both, the fibre rod and the inner cable network are elements of low stiffness but in combination theses minimal material elements create a whole of high
Fig. 1: Sean Ahlquist, sensoryPLAYSCAPE Prototype (2015)
stiffness. Lace Wall is part of an investigation to lower material costs by keeping the structural performance intact. Each element is designed to contribute to a fixed global design - a wall.3 Gossamer Timescapes on the other hand is a selfactuated ceiling based on responsive minimum energy structures. Each component of the dynamic installation is actuated by a dielectric elastomer which reacts to an impulse received from an outdoor wind-sensor. Even though this PhD-project by Aurélie Mossé is deriving
Fig. 2: CITA, Lace Wall (2016)
from her background as a textile designer it is dealing with a highly relevant subject matter in architecture the question of how designers and architects can use their ability to engineer the world to rethink buildings as dynamic environments which rather interconnect with their surrounding environment than obstruct it.4 All the above shown research projects are classified as textile hybrids while every example varies in scale, production and application. Consciously chosen, each exploration exemplifies qualities which in combination could lead to a responsive dynamic envelope that,
Fig. 3: Aurélie Mossé, Gossamer Timescapes (2012)
2
(Ahlquist, 2015b), 3 (Deleuran, Pauly, Tamke, Tinning & Thomsen, 2016), 4 (Mossé, Gauthier, Kofod, 2012)
3
in Aurelié Mossés words, examines the potential to
change in the surrounding conditions and the executed
apprehend the building as a zone of exchange rather
change in state or geometry. To give depth to my own
than a zone of delineation. The design potential of an
investigations in the realm of dynamic envelopes the
activated membrane (sensoryPLAYSCAPE), the form-
following paragraphs are an elaboration on two very
finding and clustering of Textile Hybrids (Lace Wall)
different but intentionally chosen projects that have
and the actuation of those through sensing (Gossamer
been developed within the last 10 years.
4
Timescapes) shall be used as conceptual guidance during
ORAMBRA, the Office for Robotic Architectural Media
all following design explorations.
and the Bureau for Responsive Architecture, developed a conceptual proposal for a single-family home with
4. STATE OF THE ART (DYNAMIC ENVELOPES)
an actuated tensegrity façade system to lower the emittance of carbon to less than half in comparison to
“At a time when most artefacts, systems and institutions
a typical household in Illinois. “Although a combination
are in an increasingly rapid state of change, the lack of
of systems is used to produce these savings, the house
constructive progress in basic problems of enclosure and
derives most of its success via shape-changing structural
movement is not merely depressing but also extremely
systems”. This change of shape is made possible by a
dangerous. It is a cause for total concern when one of the
combination of the well known structural systems like
major obstacles to the improvement through change of
tensegrity wed with a newly developed operating devises
many activities is primarily hampered by the restriction of
to initiate and control the movement of the envelope.
their enclosures.”
5
Due to state-of-the-art software and material science,
explorations
towards
the
design
and
construction of dynamic building envelopes gained not only interest in terms of the development of environmental sustainability driven building systems but also as the architect’s long-desired notion to create responsive architecture for the ever-changing milieu that surround us. With this newly obtained ability and freedom to follow the concept of the shape changing architecture new complex questions arise, which have
Fig. 4: Tristan d’Estrée Sterk, Prairie House
a high demand on a collective skill set of not only architects but also material scientists, construction engineers, craftsmanship on site and maintenance. One of the most central questions is by nature is the kinetic actuation of (a mostly) interconnected system of elements and the environmental influence the system reacts to. If the actuation is not directly initiated by the environmental impact, like sunlight, rain, motion of people etc., an additional computerized system is implemented to translate between the received
4
Fig. 5: SOMA and Knippers Helbig - Prototype for Expo 2012 Pavilion
(Mossé, Gauthier, Kofod, 2012), 5 (Ayres, P. 2012, p. 155-169)
4
5. ACTUATED TEXTILE HYBRIDS
Even though this building is not realised, it impresses with the complex layering of simple state changes
TEXTILE MANIPULATION (SMOCKING)
such as colour transitions (Fig. 4) and the exposure of coverage of different façade layers and is therefore a
The techniques and methods to manipulate textiles
great example for not only an immediate environmental
developed in the sector of apparel are nearly endless.
impact for this single household but also for a greater
Most of the manipulations follow a distinct rule-set of
notion of rethinking known construction methods in
pattern making to create a three-dimensional geometric
combination with new technologies.
appearance while the chosen fabric is not cut to form-fit
5
To complete the circle from design-led research and
but rather gathered in a decorative manner. While today’s
prototyping to building concept and finally to full scale
approach to fashion design leans towards customisation
architectural projects, the façade of the expo pavilion by
to reduce material waste, the technique of smocking was,
SOMA is a great example for the smart usage of a simple
in its own era, economically relevant, since the fabric
mechanical actuation which introduces the double-
stayed mostly untouched by being simply folded into
curvature buckling of the louver elements to shade or
place. Due to its mechanical flexibility and the ability to
lighten the interior of the pavilion. “The louvers have
inexpensively re-use and re-shape the garment, smocked
one stiff and one thin edge, actuators located at the top
fabrics were mostly worn by farmers and craftsmen,
and bottom do provide the capability of asymmetrical
where also its name derives from: smock, the farmers
bending (…).” Deriving from a research project at ITKE
work shirt. The analysis of the folding patterns and their
(University Stuttgart) the kinetic façade was finally
contraction ratio is essential for the development of
developed together with the engineering office of
the form-finding tool. Representation methods, such
Knippers Helbig. This project exemplifies the scalability
as Kentaro Tsubakis notation of the smocking folding
of a prototype investigation (Fig. 5) and in addition to
behaviour (Fig. 6), can be a valuable tool to understand
that the refined use of material properties together with
the mathematics of the contraction.7
efficient minimal actuation.6 While most of the realised kinetic façade systems devote themselves to one environmental impact such as sunlight, it raises the question if a dynamic envelope such as the one of the Expo Pavilion by Soma could combine the minimal initialising actuation and the consequently amplified passive actuation to form a greater dynamic system such as in the example of the Prairie House. In addition to that and as mentioned earlier, it is noticeable that most kinetic skins are designed for a simplified reaction to mostly only one environmental condition while a translation of the complexity of the outside world into a responsive envelope could not only bring an amplified and unexpected design outcome but could also blur or even dissolve the barrier between architecture and nature.
Fig. 6: Kentaro Tsubaki, Smocking and its Notational Drawing
(Ayres, 2012, p. 155-169), 6(Knippers, Jungjohann, Scheible & Oppe, 2012), 7 (Ng, R., Patel, Sneha, Takemoto, Flávio, Fox, Edwin, & Ball, Bethan, 2013, p. 160-161) 5
5
SMOCKING AS AN ACTUATION MECHANISM
and cross section values as in reality. The simulation is
Knowing that the fabric manipulation method of
divided into two steps: In the first step the straight rod
smocking is a technique to gather fabric in order to form-
is iteratively bent into a loop until the end points meet.
fit and (re-)shape textiles, I would like to investigate
For the second step a transversal contracting cable is
the relationships between the smocking pattern, the
added to bend the loop out of the plane and achieve
membrane it is embroidered onto, a bendable frame
the spatial geometry. To initiate the second step small
in which the membrane is placed in and its bending
imperfections of the geometry are used to steer the
behaviour during the process of smocking to create
buckling of the beam into the intended direction.8
KIWI3D
an actuated textile hybrid. I position my method as an exploratory extension of the existing form-finding
This plug-in for grasshopper uses Isogeometric
simulation methods for creating textile hybrids, which
Analysis (IGA), a subgroup of FEM, in order to directly
most commonly follow the strategy of shaping an
integrate structural analysis into CAD. While most
elastic beam via a set of cables (Fig. 7) to then form-
analysis tools are based on the parametrisation of
find a minimal-surface membrane. Similar to this
geometries using meshes, Kiwi3d offers a simulation tool
process I would like to investigate an extended version
in which the meshing process is avoided and replaced
of those simulations by shaping the elastic beams via a
by NURBS. Similar to SOFiSTiK, Kiwi3d uses contracting
smocking pattern. Aim of the exploration is to abstract
cables or membranes and the same 2-step-process in
each element (frame, membrane, pattern) and their
order to shape the beam. Some advanced features, such
behaviour to establish a simulation set-up to steer and
as form-finding and cutting pattern can be beneficial for
predict the bending behaviour of the textile hybrid.
designing Bending-Active-Textile-Hybrids.8
K2/K2-ENGINEERING 6. FORM-FINDING TOOLS
Different from the two previous tools, Kangaroo is using Dynamic Relaxation (DR) to form-find cable and membrane-structures. In Kangaroo / K2 “Goals” are defined as functions acting on a set of points, which can describe geometric constraints, elastic material elements, applied loads and other energies. A custom
Fig. 7: Pringle Simulations: From the left SOFiSTiK, K2 Pipeline, Kiwi3D
computational pipeline for FAHS (Form-Active Hybrid Since the form-finding method described in this
Structures), developed by Anders Holden Deleuran,
paper is a modified/extended version of the already
discretises the geometry, assigns topology logic, part indexing,
existing investigations to form-find textile hybrid
material properties and then sends this data to Kangaroo to
systems it is necessary to briefly elaborate three of the
solve, on the fly.5 This pipeline allows the user to design
present computational simulation tools to position,
more freely and modify bending-active topologies with
integrate and evaluate my own investigation:
real time feedback on structural performance.8
SOFISTIK
In view of my aim to establish a rule-set for
SOFiSTiK is a structural analysis software based on
simplifying the complex behaviour of smocking textile
FEM – Finite Element Modelling. To simulate bending-
surfaces to steer the deformation of a surrounding
active structures SOFiSTiK uses contracting cables
frame, my exploration will be developed as a hybrid
with the same dimensions, units, material properties
methodology, combining the analysis of physical and
8
(A. M. Bauer et al., 2018)
6
digital models and their form-finding behaviour. Since
textile the pattern it is applied to (Fig. B). Figure D is
all the above-mentioned software tools use cables as
clearly showcasing that each pattern is accumulating
an initial (simplified) process to form find the active
the folds either in a proportional or non-proportional
bending beams, I would like to position my own
fashion in comparison to its initial unfolded state,
investigation within the process of simulating cable
which signifies the shrinkage of the textile is likewise
contraction as a translation of the smocking pattern in
proportional or non-proportional.
the recently developed grasshopper-plug-in KIWI3D.
7. EXPERIMENTAL SET-UP PHYSICAL MODEL (BEHAVIOURAL ANALYSIS) Base for each digital model is a physical model which provides knowledge about the important actionreaction relationships during the shape and state changing process. Three main model set-ups are chosen to provide three different types of analysis: 1. Actuation:
Fig. B: Smocking Test (Shrinking Behaviour to Scale)
Smocking patterns and their textile gathering behaviour, 2. Translation: Applied patterns and their resulting textile stresses, 3. Passive-Actuation: Frame rotation and bending as a design trajectory. In the following paragraphs the first two physical models are describes as they lead to main investigation of the paper – the form-finding tool for the actuated textile hybrid. 1. Smocking Patterns (Textile Gathering Behaviour): Smocking is, as already described above, a type of pleating technique which gathers fabric via a geometrically
defined
stitch
pattern.
Since
the
behaviour of the omnidirectional folding of the
Fig. C: Smocking Patterns on Grid
fabric is very complex, especially during the process tensioning and releasing the textile, it is necessary to analyse the folding behaviour and its global impact on the shape changing process. While there is software like Marvelous Designer9 which can simulate the folding accurately, it is important to mention that for the purpose of form-finding the intended textile hybrid, the impact of the textile-gathering is more important than the folding itself. Focus of the first physical tests is therefore the pattern, the resulting shape/area of the accumulation and the consequent shrinkage of the
9
Fig. D: Contracting Behaviour of Smocking Patterns (Fig. C)
(Spahiu, Shehi E & Piperi, 2014)
7
DIGITAL MODEL (TRANSLATION & ABSTRACTION) The Hyperbolic Paraboloid: As the geometric point of departure, the hyperbolic paraboloid, also known as “Pringle” (Fig. 8), is chosen to demonstrate the bending behaviour initiated by the contraction process inside the membrane. The nature of this geometrical figure is widely discussed in the world of mathematics and therefore equally observed in the world of structural
Fig. 8: Hyperbolic Paraboloid 10
engineering and architecture. The Pringle shape was well understood by the Spanish-Mexican architect Félix Candela who was able to use the strength of the hyperbolic paraboloid to build wide-spanning structures from incredibly thin concrete. The Pringle‘s strength is the perfect balance between tension and compression forces. Through this double curvature the shape remains thin and yet surprisingly strong and is therefore a geometry with great potential for dynamic textile hybrids and their form-finding processes. 2. Textile Stresses (Translation to Digital Model): With the aim to form a planar plastic frame with a rectangular
Fig. E: Smocking Test (Frame Behaviour)
cross-section into a regular Pringle, a smocking pattern with proportional contracting behaviour is chosen to centrally accumulate an area of the textile the frame is attached to (Fig. E). Figure F exemplifies the from
c.
the smocking resulting stress lines which become
a. b.
most visible by forcing the frame back into its planar position while the applied pattern is still in its smocked state. All patterns (Fig. C) reveal that the stresses occur
a. Frame b. Prestressed Cables c. Cables to Frame
radially around the gathered area extending eventually towards the frame. While most materials would not
Fig. F: Smocking Stress Lines (Simulation Base)
reveal their inner stresses until they irreversibly bend or break, textiles are able to visualize their stresses (tension and compression) within the material itself (stretch) or within deformation (folds). Based on the observations of the previously described physical models an abstracted digital model is set up to formfind the regular as well as variations of deformed Pringle shapes due to non-centrally and non-proportionally applied smocking patterns (Fig. G).
10
Fig. G: Simulation Set-Up in KIWI3D
(Knippers, Cremers, Gabler, & Julian Lienhard, 2011)
8
FORM-FINDING PROCESS (KIWI 3D)
dynamic envelope, three scales of shape and state
Like the physical model, consisting of frame,
change arise from the experiments with the actuated
membrane and smocking pattern, the digital model
textile hybrid: A. Micro-Scale: The controlled geometric
is constructed with the same three elements though
gathering of the fabric as an actuation initiating
abstracted to facilitate the computation-intensive form-finding
process
in
KIWI3D.
Even
A1.
though
B1.
Kangaroo 2 offers the same possibilities to set-up a simulation model to form-find my textile-hybrid within grasshopper, KIWI3D enables the user to easily add real material properties and cross-sections and defines the form-finding process more precisely by omitting the meshing process which is the base for most kangaroo simulations.8 Since my model is dealing with torsion the frame is set up as a shell-element for the beam-element in KIWI3D is not visualizing/enabling any doublycurved twists which are key to my investigation. The core of actuation, the smocking pattern, is abstracted through pre-stressed cables which frame the area where the textile gathering would occur. From this area outwards radially extending cables (non-pre-stressed, based on Fig. F)) connect to the frame to abstract the Fig. H: Simulation with Proportional Contraction
membrane the smocking pattern would be applied to. The frame has an initial curvature to steer the bending
A2.
B2.
into the intended direction, while various support points guide the bending during the form-finding process. By simply relocating the pre-stressed cables and/or redefining the pre-stresses in each direction various “deformed� hyperbolic paraboloid shapes can be form-found and analysed.
8. CONCLUSION AND DISCUSSION While the core investigation of this paper is the systematic translation of the deformation behaviour of a by smocking actuated textile hybrid into an abstracted and easily computable simulation model, it is necessary to locate and discuss the design potentials of this madeto-measure form-finding tool. By tying the exploration back to the architectural notion it derived from, the
8
Fig. I: Simulation with Non-Proportional Contraction
(A. M. Bauer et al., 2018)
9
system, as well as a state changing element which densifies and accumulates the planar textile, as well as a readable ornament which could visually foretell an occurring change of shape. B. Meso-Scale: The through the textile shrinkage resulting deformation of the frame in both dynamic transformation from planar and nonstructural to three-dimensional and structurally stable (Pringle) and the use of the occurring torsion of the bent frame as the directory element for the connection and passive actuation of a cluster of elements (Fig. J & K). C. Macro-Scale: A global shape change resulting
Fig. J: Simulation of Pringle with Vector Extensions
from the dynamic behaviour of each element of the cluster.
FUTURE INVESTIGATIONS The dynamic design of a global shape asks for dynamic design thinking since the inextricable interdependence A.
of each part of the textile hybrid element translates
B.
C.
Fig. K: Physical Models: A. Frame, B./C. Frame with Extensions
directly into the overall cluster. Further investigation would therefore not only focus on a feedback-loop in which a global shape informs the contracting mechanism for each element but also the design of the range of geometric possibilities that occur within the A.
transition of shape and state in each mentioned scale. The Hyperbolic Paraboloid would be re-evaluated in its shape changing and structural performance during the design process for a specific site. As a work-in-progress design investigation in dynamic structures my goal is to lead those previously named potentials to form a structured skin which reacts actively and passively to multiple environmental impacts on all three scale levels. While the scalability of each element, its true materiality, the actuating system and the clustering still needs to be defined during the design process, the global notion is to create a boundary-object which reacts to the given natural impacts of a minimal site to redirect these into building typologies which lost their direct connection and relation to nature due to the present and forecasted phenomena of congestion of housing and workplaces in urban areas.
Fig. L: First Visualisation Potential Clustering
10
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