Intelligent Force Printing

INTELLIGENT FORCE PRINTING Research and Development of FUROBOT In the current digital environment, there is a trend towards combining human intelligence with new tools, such as construction robots, to form a new relationship. Designers no longer focus solely on designing appearances, but on creating various parameter logic. As a node-based programming software that builds upon Grasshopper, FUROBOT inherits the parameterized control mode of Grasshopper.

In this mode, most parameters are transferred in the form of node input and output, rather than through traditional dialog input.

Parameter Representation When first learning about FUROBOT, it is important to have a solid understanding of several basic robotics parameter concepts.[3,4] Of all the concepts that require clarification, those listed in Table 1 should be understood first.

Parameter Tool head center point plane (TCP) Robot root (Root) Work object (Work base) Tool (Tool)

Description Pose transformation of the moving target of the robot relative to the working base coordinates

The position of the robot’s position relative to the pose of the world system Pose transformation of robot work object coordinate system relative to robot root coordinate system

Pose transformation of the end of the robot tool head relative to the center point of the flange

Table 1 Different representation of rotation

Figure 2 Conversion of different rotation representation

Figure 3 General 6D robot has 8 pose states

ORO Editions 34

ESSAYS FUROBOT, which is designed to support the work of multiple robots at the same time, needs to deal with these different pose expressions in a unified manner and provide tools for converting them (Figure 2).

In a normal working space, the 6-axis robot commonly used in the industry has eight pose states to choose from for reaching the center point plane (TCP) of the same tool head (Figure 3). While the UR robot does not have explicit pose state parameters for users to select, its pose state parameters are implicitly derived from the previous state of the robot. Thus, only the preset robots KUKA and ABB require manual selection of pose state parameters.

To ensure consistency across different types of robots, it is necessary for FUROBOT to use a standardized parameter format for pose parameters. To this end, the software platform adopts the official parameters designated by KUKA as the reference and maps the corresponding parameters of ABB and UR robots one-to-one according to this reference (Table 2). Additionally, motion command options corresponding to these pose parameters are available in the input interface of FUROBOT (Figure 4).

KUKA 110

ABB 1

Description Wrist in front of shoulder, wrist in front of elbow, negative wrist

010

0

Wrist in front of shoulder, wrist in front of elbow, positive wrist

100

000 111

101

011

001

2

Wrist in front of shoulder, wrist behind elbow, negative wrist

2

Wrist in front of shoulder, wrist behind elbow, positive wrist

7

Wrist behind shoulder, wrist behind elbow, negative wrist

5

Wrist behind shoulder, wrist in front of elbow, negative wrist

6

Wrist behind shoulder, wrist behind elbow, positive wrist

4

Wrist behind shoulder, wrist in front of elbow, positive wrist

Table 2 ABB and KUKA pose state conversion

Workflow The technological revolution triggered by digital technology has brought about fundamental changes in architectural design. Thinking, design, and construction have become organically integrated in Figure 4 FUROBOT pose states parameter in move component Figure 5 FUROBOT internal workflow

ORO Editions 35

INTELLIGENT FORCE PRINTING

Figure 15 (above left)

Figure 16 (above middle)

Figure 17 (above right)

Figure 18 (below left)

Figure 19 (below middle)

Figure 20 (below right)

A side view of the boarding gate and the interweaving structural geometry of the terminal.

Project credit: Tian Ouyang and Jasmine Gao.

Sectional perspective of the terminal showing the boarding gate on the top and the circulation of passengers and cargo transport through the terminal. Project credit: Tian Ouyang and Jasmine Gao.

The plan and section of the interweaving terminal.

Project credit: Tian Ouyang and Jasmine Gao.

A view of the physical scale model of the terminal showing how the interweaving parts only share the circulation core with each other. Project credit: Tian Ouyang and Jasmine Gao.

Another view of the terminal model representing the integration of structural and architectural geometry. Project credit: Tian Ouyang and Jasmine Gao.

Sectional perspective view of the terminal revealing the structural system and architectural components of the interior as well as the facade of the terminal. Project credit: June Zhu, Linnan Yu,and Yiwei Gao.

ORO Editions 54

ESSAYS

Figure 21 (above left)

Figure 22 (above middle)

Figure 23 (above right)

Interior view of the terminal with the gates on the top floor, at which the passengers can directly arrive via the air train suspended from the ceiling of the terminal. Project credit: June Zhu, Linnan Yu,and Yiwei Gao.

A sectional perspective of the terminal representing various modes of transportation and architectural space within the terminal. Project credit: Zehua Qi and Qi Liu.

Another structural model of a terminal where the internal space is designed as a multi-story spaces to receive drones on the top and conventional airplanes on the side. Project credit: Zhou Xieyang and Duan Xiaoyu.

ORO Editions 55

INTELLIGENT FORCE PRINTING Yuhan Bao

1

A

2 3 A

B

C

D

E

F

1

3

5

8

10

12 11

2 4

6

9

7

G

1

A

1

4 5 6 7

A

1

1

A

2 3

B

1

A

2 3

B 4

4 5 6

E

E

E

E

E

F

F

F

F

F

F

1

1

A

1

A

C G D

1

A

1

A

B

2 3

B

2 3

B

2 3

B

2 3

B

C G D

4 5 6 7 8

C G D

4 5 6 7 8 9

C G D

4 5 6 7 8 9

C G D

4 5 6 7 8 9

C G D

4 5 6 7 8 9

C G D

10

E

10 11

E

10 11

E

E

E

F

F

F

C

D 8

5

7

6

4

F

G

E 10

9

11

A 2

B 5

C

1

8

D

F

C

C

D

D

E

E

F

F

3,4 6,7 9,10,11

Force Diagram

ORO Editions A

A

A

A

A

B

B

B

B

B

C

C

C

C

C

D

D

D

D

D

E

E

E

E

E

F

F

F

F

F

80

E 12

F

Form Diagram

A

A

2 3

F

B

C G D

B

E

A

B

E

3

B

A

2 3

B

4 5

C G D

1

A

2 3

B

C G D

2 1

F

C G D

B

G

E

D

C G D

A

2 3

10 11

C

Force Diagram

A

2

B

G

12

Form Diagram 1

B

4 5 6 7 8 9

F

2D GRAPHIC STATICS Bowen Li F F

A

B

1

2

E

C

5

6

2

B

4

E

1

A

3

6

5 D

C, 3 4 D

Form Diagram

F

A

B

Force Diagram

C

F

E

A

B

C

F

E

C

D

F

E

E

F

1

A 6

2

D

F

1

B

B

E

D

A

A

A 6

2

B

E 1

5

6

2

B 5

C, 3

C, 3

5 C, 3

4

4

4

D

D

D

1

A 1

B

C

2 3

3

D 6

B

2

7

4

5

4

A

E C

6

5

E

D

7

Form Diagram 1

Force Diagram

A

1

A

1

A

ORO Editions 3

3

B

2

6

C

5

7

B

2

E

4

3

6

C

5

D

7

81

B

2

E

4

E

4

6

C

5

D

7

D

Intelligent Force Printing

ORO Editions 96

BRIDGE DESIGN

ORO Editions 97

Intelligent Force Printing

ORO Editions 98

BRIDGE DESIGN

ORO Editions 99

Intelligent Force Printing

ORO Editions 110

BRIDGE DESIGN

ORO Editions 111

INTELLIGENT FORCE PRINTING Perspective Diagram - Zhengqian Peng Form Diagram

Force Diagram

ORO Editions 128

BRIDGE DESIGN

Feedback It is not compress-only, you have convex cells. For some reason, you have complex cells when you should have self-intersecting cells, that means that your system is not compression-only. Also when you combine compress and tension, it does not work well. Pull to the point.

Plan the view in your bridge; self-interesting cell mixed forces (compress & tension).

Design Process

ORO Editions 129

INTELLIGENT FORCE PRINTING

UNACCOMPANY Bowen Li Zhangxizhi Wang Zhengqian Peng

Crafted with precision, UNACCOMPANY stands as a centerpiece within a space of industrial symmetry, its sweeping curves and bold apertures a stark contrast to the orthogonal lines of its surroundings. This piece is not merely a static installation but a dynamic entity that reshapes the essence of the space it inhabits.

ORO Editions 142

PAVILION DESIGN

Force Diagram

Form Diagram

ORO Editions Final model

143

INTELLIGENT FORCE PRINTING

Force diagram plan

Force diagram

Form diagram

Force diagram plan

ORO Editions Force diagram

Form diagram

146

PAVILION DESIGN

ORO Editions 147

INTELLIGENT FORCE PRINTING Stage 3

Stage 4

Reinforcement

Ring Beam

ORO Editions 164

PAVILION DESIGN

ORO Editions 165

Intelligent Force Printing

ORO Editions 180

DESIGN DEVELOPMENT

ORO Editions 181

Intelligent Force Printing

ORO Editions 194

FABRICATION DEVELOPMENT

ORO Editions 195

ORO Editions