2016 TKU CAAD Robot Arm Workshop

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)

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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

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TKU CAAD

2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication

Gallery

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TKU CAAD

2016 Robot Arm Workshop Robot Arm Programming & Robotic Fabrication

Gallery

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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