“蜂群”打印橋梁

“蜂群”打印橋梁

學生組：SCL (陳鐸，陳毅強，肖柳， Sasila Krishnasreni)

導師: Robert Stuart-Smith

工作室技術顧問：Tyson Hosmer, Manos Matsis

-- ON-SITE ROBOTIC CONSTRUCTION --SWARM-PRINTED PEDESTRIAN BRIDGE

STUDENTS: SCL: DUO CHEN, YIqIANG CHEN, LIU XIAO, SASILA KRISHNASRENI

SUPERVISOR: ROBERT STUART-SMITH

STUDIO TECHNICAL CONSULTANT: TYSON HOSMER, MANOS MATSIS

作為分布式空中機器人施工研究的延伸，本項目對作為設計內在特征之一的施工排序進行了研究。偏遠地區的橋梁施工為無人機3D打印施工技術提供了契機。這些施工地點很難到達，因此需要從兩邊建造一座橋梁，如同兩根懸臂在中間交匯。由于采用了施工排序，在施工過程中結構負荷會從兩根懸臂一致轉移至橋梁的橫梁上。在這兩種情況下，應力荷載的分布有所不同，因此需要不同的材料組織。通過并聯機器人的打印方式，無人機群能夠將橋梁打印出來，同時靈敏地應對結構類型的變化。此外，由于認識到在空中施工過程中，強風和極端天氣可能造成與原始設計模型之間的偏差，因此該項目進行了實時預測性結構分析，讓無人機在結構撓度過高時能夠自動停止當前活動，并背靠峭壁建造一個附加的支撐結構，然后繼續施工，以保持橋梁的結構完整性。該項目充分考慮了預想的設計和結構意圖，并結合進行實時分析和反饋，以建造一座能體現施工機器人、環境與打印材料之間局部交互作用且材料優化的橋梁。研究表明，最終設計離不開其施工過程，設計和制作在整個施工過程中在本質上是相互關聯的。AA.DRL羅伯特?斯圖爾特-史密斯工作室研究了各種施工情況下的實際問題，并希望通過創意設計過程解決這些問題。我們認為，設計并非與合理化施工相對立，而是在生產過程得到統一的一種協作關系。我們希望通過這種方式實現獨特的創新設計，這些設計應該在其概念階段就能體現其切實而又經濟的原則，確保設計和生產相輔相成。

An extension of the research into distributed aerial robotic construction, this project investigates construction sequencing as an intrinsic property of design. Bridge construction in remote locations is seen as a potential opportunity for UAV 3D Printed construction. Such sites are hard to access and would necessitate a bridge being constructed from both sides as cantilevers that meet in the middle. This construction sequence shifts the structural loading from two cantilevers to a unified bridge beam over the course of construction. Both conditions distribute stress loads differently and therefore require different organisations of material. By printing through parallel robotic processes, a swarm of UAVs are able to print the bridge whilst sensitively responding to this change in structural type. Moreover, recognising that deviations from the original design model can occur throughout the aerial construction process due to winds and extreme weather, a real-time anticipatory structural analysis was developed that allowed the UAVs to spontaneously stop their current activities if structural deflections were too high and commence constructing an additional structural support back to the cliff before continuing in order to maintain the structural integrity of the bridge. The project maturely mixes preconceived design and structural intent with real-time analysis and feedback to construct a materially optimised bridge that emerges from the local interaction of robot constructors, the environment and the material that they are printing. The final design can not be separated from the construction process in which it was derived. Design and production are shown to be intrinsically related to each other throughout the temporal process of construction. Studio Robert Stuart-Smith at the AA.DRL investigates the pragmatics of diverse construction scenarios and seeks to address these within creative design processes. Design is considered to be not in opposition to the rationalisation of construction but rather a partner in a unified production process. In this manner we hope to achieve innovative and unique designs that embody practical and economical principles within their conception, ensuring design and production are intrinsic to one another.

三維打印硬件原型 3d printer hardware prototype

三維打印材料原型 3d printer material prototype

無人機三維打印格子框架結構 uavs 3d print lattice structure

計算機模擬蜂群在空中的形態，利用實時預期的結構分析3d打印橋梁結構 digital simulation of a swarm of aerial robots (uavs) 3d printing a bridge structure utilising real-time anticipatory structural analysis

在橋梁建造過程中開啟實時模擬結構分析系統 real-time anticipatory structural analysis is operating throughout the bridge construction

這個人行天橋設計為又一群無人機三維打印，它的主體結構從懸崖兩側開始懸挑搭建，隨后在中間接合，開始與結束的結構外形會有所差異，打印的設計為此會不斷調整，在需要的位置實時增加額外的支撐結構this pedestrian bridge is designed to be constructed by a swarm of uavs who can 3d print the structure starting with two cantilevers on each adjacent cliff face. These then meet in the middle to form a bridge. Both the initial and final configurations are structurally different. The printing sequence accommodates this and adds additional supports in real-time where required

局部放大圖：經過對施工過程中的結構進行優化后的異形梁架局部變化及材料肌理closeup visualisation of the locally differentiated ridging and material grain which has been optimised for satisfying structural criteria throughout the constructon of the bridge