原文出處：ETH NEWS
原文新聞稿：DFAB HOUSE官方頁面：Gramazio Kohler Research
官方頁面：DFAB HOUSE - Digital Fabrication and Living
官方頁面：Robotic Fabrication Laboratory（RFL）
Credit：Gramazio Kohler Research, ETH Zurich
蘇黎世聯邦理工學院的研究人員，在木架構的構築流程之中嘗試了嶄新的數位工法，這是世界上第一個機械手臂參與大型木構協作的實際案例。這些承重的木頭模組，預先由機械手臂所組裝，之後將會組立在 DFAB HOUSE 最上面的兩層空間。
Researchers from ETH Zurich are using a new method for digital timber construction in a real project for the first time. The load-bearing timber modules, which are prefabricated by robots, will be assembled on the top two floors at the DFAB HOUSE construction site.
傳統的木頭框架構築，因為機械編程的介入而有更多的可能性。
The range of possibilities for traditional timber frame construction is
expanded by the new robotic method for digital timber construction.
(Video: NCCR Digital Fabrication)
數位化介入木頭的構築由來已久，以木材本體為例，整個單元都已經仰賴電腦輔助系統所製造。原些材料被機器切割成確切的大小，但在多數的情況下，它仍然必須透過手動的方式組裝，成為一個平面的框架。在過去，這樣的製造過程存在許多幾何的限制。
Digitalisation has found its way into timber construction, with entire elements already being fabricated by computer-aided systems. The raw material is cut to size by the machines, but in most cases it still has to be manually assembled to create a plane frame. In the past, this fabrication process came with many geometric restrictions.
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| 圖示為六分之一模組，由機械手臂以 Spatial Timber Assemblies 工法所預組的單元，每個單元由各自獨特的木構造模組所組合而成 One of a total of six spatial, geometrically unique timber modules prefabricated with the novel robotbased building method “Spatial Timber Assemblies”. © Gramazio Kohler Research, ETH Zurich |
在瑞士國家競爭力研究中心（National Centre of Competence in Research／簡稱 NCCR）Digital Fabrication 機構的支持下，蘇黎世聯邦理工學院「建築和數位製造」（Chair of Architecture and Digital Fabrication, ETH Zurich）的研究人員開發出了一種新的數位木材建造方法，拓展了傳統木結構工法的可能性，將能夠有效地建造和裝配幾何複雜的木材模組。這個「Spatial Timber Assemblies」工法，始於和瑞士的建築承包商 Erne AG Holzbau 的密切合作而發展出來；將首次於 Dübendorf 的 NEST 平台上，由 DFAB HOUSE 進行專案的實作。這也是該實驗室所發表的第一個使用機器人開發協作的大尺度建築專案。
*瑞士材料科學技術研究院（Empa）
*瑞士聯邦水科學技術研究院（Eawag）
*NEST 位於 Empa-Eawag 校區，是一個新型建築工法的研發與展示平台
Under the auspices of the National Centre of Competence in Research (NCCR) Digital Fabrication, researchers from ETH Zurich's Chair of Architecture and Digital Fabrication have developed a new, digital timber construction method that expands the range of possibilities for traditional timber frame construction by enabling the efficient construction and assembly of geometrically complex timber modules. Spatial Timber Assemblies evolved from a close collaboration with Erne AG Holzbau and will be used for the first time in the DFAB HOUSE project at the Empa and Eawag NEST research and innovation construction site in Dübendorf. It is also the first large-scale architectural project to use the construction robots developed by ETH Zurich's new Robotic Fabrication Laboratory.
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| 電腦模擬 DFAB HOUSE 建構在 NEST 平台上 Computer generated visualisation of the DFAB HOUSE on the modular research and innovation building NEST of Empa and Eawag in Dübendorf. © NCCR Digital Fabrication, September 2017 |
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| 位於蘇黎世 Dübendorf 區的 NEST 研究創新平台 點擊前往 Google Map |
與機械的精準度共事
機器人協作的流程中，首先由機械手臂採取木材的橫樑，並引導它被鋸成既定的尺寸。在自動換刀之後，第二組機械手臂會鑽出連接橫樑所需要的孔位。最後一個步驟，兩組機器手臂協同工作，將木材精確定位在電腦放樣的空間中。為防止在定位單個木材時發生碰撞，研究人員開發了一種演算法，會根據當前的施工狀態，不斷地重新更新、計算機械手臂的運動軌跡。工人們僅需在木材放置定位後，手動將這些橫樑栓在一起。
With robotic precision
The robot first takes a timber beam and guides it while it is sawed to size. After an automatic tool change, a second robot drills the required holes for connecting the beams. In the final step, the two robots work together and position the beams in the precise spatial arrangement based on the computer layout. To prevent collisions when positioning the individual timber beams, the researchers have developed an algorithm that constantly recalculates the path of motion for the robots according to the current state of construction. Workers then manually bolt the beams together.
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| 一個施工人員手動將兩組預先定位好的木料，鎖固在一起 A project member manually bolts the timber beams together that have been jointly preplaced by the two robots. © NCCR Digital Fabrication / Roman Keller |
更耐久而獨立的構築方式
與傳統木結構構築方式不同，由於自身的幾何結構可以達到一定的剛性和承載力，「Spatial Timber Assemblies」在即便沒有使用鋼板的情況下，構造本體依然可以精準掌握。這不僅節省了材料，也創造了新的可能性。一共六個幾何獨特的空間木構模組，將第一次以這種方式預製，然後以貨車將它們運到 Dübendorf 的 NEST 平台上。在 DFAB HOUSE 工地中，它們將會組構成一個兩層樓高的住宅單位，覆蓋超過 100 m² 樓地板面積。立面屆時將覆蓋一個透明的膜，使後面木材結構的複雜幾何保持可見。
Longer lasting, more individual construction
Unlike traditional timber frame construction, Spatial Timber Assemblies can manage without reinforcement plates because the required rigidity and load-bearing result from the geometric structure. Not only does this save material; it also opens up new creative possibilities. A total of six spatial, geometrically unique timber modules will be prefabricated in this way for the first time. Lorries will then transport them to the DFAB HOUSE construction site at the NEST in Dübendorf, where they will be joined to build a two-storey residential unit with more than 100 m² of floor space. The complex geometry of the timber construction will remain visible behind a transparent membrane façade.
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| 一組由機械手臂抓取的木料，正通過鋸台加工成正確的尺寸 One of the robots taking a timber beam to the saw in order for it to be cut to size. © NCCR Digital Fabrication / Roman Keller |
建築數位化的整合
機械手臂使用電腦輔助設計模型中的資訊，來進行木材的切割和排列。這個方法在工程中得到了特別的開發，利用各種參數的輸入，創建了一個由 487 根木樑組成的幾何形狀。 「Spatial Timber Assemblies」用於數位製造、設計和規劃提供一個主要的優勢，根據DFAB HOUSE 計畫的領導人 Prof. Mattias Kohler 表示：＂如果要對專案進行任何的更改， 電腦模型可以進行不斷的調整，以滿足新的要求。這種整合式的數位建築架構，正在縮小設計、規劃和執行之間的差距＂
*Prof. Mattias Kohler 為 ETH Zurich 的 Architecture and Digital Fabrication 團隊主持人之一
Integrated digital architecture
The robots use information from a computer-aided design model to cut and arrange the timber beams. This method was specially developed during the project and uses various input parameters to create a geometry consisting of 487 timber beams in total. The fact that Spatial Timber Assemblies is being used for digital fabrication and also in design and planning offers a major advantage according to Matthias Kohler, Professor of Architecture and Digital Fabrication at ETH Zurich and the man spearheading the DFAB HOUSE project: “If any change is made to the project overall, the computer model can be constantly adjusted to meet the new requirements. This kind of integrated digital architecture is closing the gap between design, planning and execution.”
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| 兩個合作中的機機械手臂，透過電腦精確的計算 讓木材在空間中按預定的路徑定位，並避免發生碰撞。 The two cooperating robots precisely position the timber beams in the spatial arrangement predefined by the computational design without colliding. © NCCR Digital Fabrication / Roman Keller |
知識共享／互惠的理念
提及瑞士聯邦理工學院（ETH Zurich）與瑞士建設公司 Erne AG Holzbau 過去的合作，之前在 Hönggerberg 校園 Arch_Tech_Lab 所共同完成了的木構造天花桁架，就是一個成功由電腦輔助機械手臂數位製造的合作案例。多虧了「Spatial Timber Assemblies」的合作，該公司在木材構築方面的專門知識，將為該研究團隊的研究作出又一貢獻。Prof. Kohler 相信夥伴關係帶來的協同效應：「數位製造，高度仰賴技術面所需要的專業知識；從另一個方面來看，數位化卻可以提高工藝，並開闢新的機會。」Prof. Kohler 表示，如果在如此短暫的時間內，要將技術用於真正的建築專案，科學發展與工業必須齊頭並進，這是無庸置疑的。
A successful concept for sharing knowledge
ETH Zurich has already completed a successful collaboration with Erne AG Holzbau on the robot-built timber roof of the Arch_Tech_Lab at the Hönggerberg campus. Thanks to Spatial Timber Assemblies, the company's expertise in timber construction will make yet another contribution to ETH research. Kohler believes in the synergy effect brought about by the partnership: “Digital fabrication depends on the tremendous expertise required for craftsmanship. Conversely, digitalisation can improve craftsmanship and open up new opportunities.” Kohler also says the fact that scientific disciplines go hand in hand with industry is essential if technologies are to be used in real architectural projects after such a brief time.
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| 蘇黎世聯邦理工學院的機器人製造實驗室，是世界上第一個 應用在建築規模的大型機械預製平台 The Robotic Fabrication Laboratory of ETH Zurich is the world's first research platform for large-scale robotic prefabrication in architecture. © NCCR Digital Fabrication / Roman Keller |
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| 透過電腦的設計運算，木樑透過機械手臂以高精準度來定位 Highly precise robotic positioning of a timber beam according to the computational design. © NCCR Digital Fabrication / Roman Keller |
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| 兩個合作中的機機械手臂，透過電腦精確的計算 讓木材在空間中按預定的路徑定位，並避免發生碰撞。 The two cooperating robots precisely position the timber beams in the spatial arrangement predefined by the computational design without colliding. © NCCR Digital Fabrication / Roman Keller |
對於這個專案有興趣的人，可以點擊 NEST 提供的網路即時影像（LIVE WEBCAM）
DFAB HOUSE - 數位式設計、計畫和建造
由八位蘇黎世聯邦理工學院的教授（以及相關的工程合作夥伴），所共同建設的 DFAB HOUSE，是一個三層高的住宅單位，這是坐落在 Dübendorf（Empa-Eawag 校區）的 NEST（研究和創新平臺）的一部分。2017 年 5 月製造的「mesh mould」，是這一系列「世界第一個單體建築／結合多種創新數位建築過程」的開始。從那之後，另外兩個數位設計和製造的建築部件，已經準備好生產，並在整個專案中進行數位協調。「Smart Dynamic Casting coordination system」已經被用於預製混凝土立面柱，專門為建築的玻璃幕牆的載入條件設計。一個所謂的「smart slab」，是一種尋求靜態最佳化的混凝土樓板，目前正在生產的前置作業。另一組研究人員，也正在使用大尺度的 3D 砂印刷製作框架。通過將這些元素與空間木材元件結合在一起，將在 DFAB HOUSE 中進行獨特的組合，預計將在 2018 秋季開放。
DFAB HOUSE - Digitally designed, planned and built
Eight ETH Zurich professors are working together with industrial partners to build DFAB HOUSE, a three-storey residential unit that is part of Empa and Eawag's NEST research and innovation platform in Dübendorf. The fabrication of the mesh mould wall in May 2017 was the starting shot for the world's first building to combine multiple innovative digital construction processes under a single roof. Since then, two other digitally designed and fabricated building components were made ready for production and coordinated digitally within the overall project. The automated Smart Dynamic Casting coordination system has already been used at ETH to prefabricate concrete façade posts designed specifically for the loading conditions of the building's glass façade. A so-called “smart slab”, a statically optimized concrete floor slab, is currently in pre-production. Researchers are using large-format 3D sand printing for its formwork. By bringing these elements together with Spatial Timber Assemblies, a unique combination will be materialising at DFAB HOUSE – which will open in autumn 2018.
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