Rob | Arch 2012: Robotic Fabrication in Architecture, Art, and Design PDF
Preview Rob | Arch 2012: Robotic Fabrication in Architecture, Art, and Design
Springer Wien New York www.robarch2012.org [email protected] Editors: Sigrid Brell-Çokcan, Johannes Braumann Association for Robots in Architecture www.robotsinarchitecture.org Funded by KUKA Robotics and the Association for Robots in Architecture This work is subject to copyright. All rights are re- served, whether the whole or part of the material is concerned, specifically those of translation, reprint- ing, re-use of illustrations, broadcasting, reproduc- tion by photocopying machines or similar means, and storage in data banks. Product Liability: The publisher can give no guaran- tee for all the information contained in this book. The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are ex- empt from the relevant protective laws and regula- tions and therefore free for general use. © 2013 Springer-Verlag/Wien SpringerWienNewYork is part of Springer Science+Business Media springer.at Editing: James Roderick O’Donovan Design Concept and Cover: Toledo i Dertschei Layout: Marko Tomicic Printing: Holzhausen Druck GmbH, 1140 Wien, Austria Printed on acid-free and chlorine-free bleached paper SPIN 86175717 With 445 coloured figures. Library of Congress Control Number: 2012953005 ISBN 978-3-7091-1464-3 SpringerWienNewYork Sigrid Brell-Çokcan Johannes Braumann (Eds.) Rob I Arch 2012 Robotic Fabrication in Architecture, Art, and Design Introduction Sigrid Brell-Çokcan, Johannes Braumann 8 Keynotes Digital by Material 12 Envisioning an extended performative materiality in the digital age of architecture Jan Willmann, Fabio Gramazio, Matthias Kohler, Silke Langenberg Morphospaces of Robotic Fabrication 28 From theoretical morphology to design computation and digital fabrication in architecture Achim Menges Workshops Robotically Fabricated Wood Plate Morphologies 48 Robotic prefabrication of a biomimetic, geometrically differentiated, lightweight, finger joint timber plate structure Tobias Schwinn, Oliver David Krieg, Achim Menges Processes for an Architecture of Volume: Robotic Wire Cutting 62 Robotic wire cutting Wes McGee, Jelle Feringa, Asbjørn Søndergaard Augmented Fabrications 72 A new control model for synchronous robotics Brandon Kruysman, Jonathan Proto Interlacing 82 An experimental approach to integrating digital and physical design methods Kathrin Dörfler, Florian Rist, Romana Rust HAL 92 Extension of a visual programming language to support teaching and research on robotics applied to construction Thibault Schwartz BrickDesign 102 A software for planning robotically controlled non-standard brick assemblies Tobias Bonwetsch, Ralph Bärtschi, Matthias Helmreich Mill to Fit 110 The Robarch Andreas Trummer, Felix Amtsberg, Stefan Peters Design Robotics 118 Towards strategic design experiments Martin Bechthold, Nathan King Projects Fabricating the Steel Bull of Spielberg 130 Clemens Neugebauer, Martin Kölldorfer Morphfaux 138 Recovering architectural plaster by developing custom robotic tools Joshua Bard, Steven Mankouche, Matthew Schulte Protocols, Pathways, and Production 142 David Pigram, Iain Maxwell, Wes McGee, Ben Hagenhofer-Daniell, L auren Vasey From Digital Design to Automated Production 148 Complex-shaped concrete sub-constructions with steel reinforcement Jens Cortsen, Silvan Oesterle, Dorthe Sølvason, Hanno Stehling Robot Assisted Asymmetric Incremental Sheet Forming 154 Surface quality and path planning Jan Brüninghaus, Carsten Krewet, Bernd Kuhlenkötter CNSILK 160 Spider-silk inspired robotic fabrication of woven habitats Elizabeth Tsai, Michal Firstenberg, Jared Laucks, Yoav Sterman, Benjamin Lehnert, Neri Oxman Rhino2krl 166 A simple CAD to robot interface for fast process prototyping Tom Pawlofsky Robotic Fabrication for Düzce Teknopark 172 Streamlining fabrication through versatile machines Baris Çokcan Free Molding Technology 174 Yaron Elyasi Outside Itself 180 Interactive installation assembled by robotic machines untouched by human hands Federico Díaz Research Geometry Optimization 184 Realization of fluid-form structure composed of spherical components, fabricated by means of computer software and robotic arms Lukáš Kurilla, Ladislav Svoboda Robotic Pouring of Aggregate Structures 196 Responsive motion planning strategies for online robot control of granular pouring processes with synthetic macro-scale particles Karola Dierichs, Tobias Schwinn, Achim Menges Magnetic Architecture 206 Generative design through sensoric robots Alexandre Dubor, Gabriel-Bello Díaz Automating Eclipsis 214 Automated robotic fabrication of custom optimized metal façade s y s tems Nathan King, Jonathan Grinham Irregular Substrate Tiling 222 The robotic poché Ryan Luke Johns, Nicholas Foley RoboSculpt 230 Unique molds for design with minimal waste Mathew Schwartz, Jason Prasad The Framed Pavilion 238 Modeling and producing complex systems in architectural education Richard Dank, Christian Freissling Augmented Reality and the Fabrication of Gestural Form 248 Ryan Luke Johns Robotic Immaterial Fabrication 256 Steven Keating, Neri Oxman Industry KUKA: Innovations in Industrial Robotics 266 Alois Buchstab splineTEX 274 Architectural composite materials Valentine Troi Industrial Robots in Architecture 278 Trends and innovations from ABB David Kittl, Martin Kohlmaier Revolution in Steel Beam Fabrication 282 Andreas Hofer 21st Century Art: The Marriage of Inspiration and Innovation 286 Robots evolve to become the artist´s high-performance tool Manfred Hübschmann, David Arceneaux Modular Robotics 292 From individual modules to complex robotic structures Christian Binder New Perspectives for Architecture and Design 296 Fabrication using robotic machining centers Alfred Kaser Parametric Robot Control without CAD/CAM 300 Dynamically generated parametric robot commands for the fabrication of pneumatic cylinders Eric Dokulil A Custom Robotic Trimmer for Modern Timber Constructions 304 Michael Bauer Rapid On-site Fabrication of customized Freeform Metal c ladding 308 Panels Robotic devices in shipping containers shifting from research to state-of-the-art Peter Mehrtens List of Contributors 316 Rob|Arch: Robotic Fabrication in Architecture, Art, and Design Sigrid Brell-Çokcan, Johannes Braumann Introduction Rob|Arch: Robotic Fabrication in Architecture, Art, and Design Towards Robots in Architecture multi-functionality and their low price: in- stead of having to develop specialized ma- Architects have been fascinated by robots chines, a multifunctional robot arm can be for many decades, from “Chantier de Con- equipped with a wide range of end-effec- struction Électrique”, Villemard’s utopian tors, similar to a human hand using various vision of an architect building a house with tools. Furthermore, due to their prevalence robotic labor in 1910, to the design of build- in industry, these robots are not prototypi- ings that are robots themselves, such as cal machines, but certified, reliable, and Archigram’s Walking City. In the 1980s and increasingly affordable, today costing 70% 1990s it briefly seemed as if robots had fi- less than the average price in the 1990s. nally arrived in architecture, when the Japa- General research into industrial nese construction industry started using robots has been going on since the 1950s as highly customized robots for high-rise con- an interdisciplinary effort involving mostly struction. However, amid the turmoil of Ja- mechanical and electrical engineers, as well pan’s financial problems in the 1990s these as computer scientists and mathemati- experiments were discontinued. Many later cians to deal with various aspects, from robotic projects were performed in a purely kinematic calculations to the design of ef- virtual environment, as architects were un- ficient motors. This has led to a wide range able to transform their theories into a phys- of industrial robots, from desktop-sized ical output. small robots with a carrying weight of a few Today, architects, artists and kilograms to massive machines capable of designers are again approaching the topic lifting a car chassis. of robotic fabrication but with a different Therefore, architectural research strategy: Instead of utopian proposals like into robotics is not so much directed at rein- Archigram’s or highly specialized robots venting machines for architectural fabrica- like the ones that were used in Japan, the tion, but rather at re-using industrial robots current focus of architectural robotics is as a well-established basis and adapting industrial robots. These robotic arms have them for architectural purposes by devel- six degrees of freedom and are widely used oping custom software interfaces and end- in industry, especially for automotive pro- effectors. duction lines. What makes robotic arms so interesting for the creative industry is their 8 Introduction Pioneering Work Rob|Arch While the use of industrial robots in the Robotic fabrication in architecture, art, and construction industry was explored by re- design is a relatively young discipline, whose searchers as early as the 1980s, pioneer- focus is on applied research, performed on ing work was done at ETH Zurich by Fabio the one hand by young designers, artists Gramazio and Matthias Kohler, whose and researchers from the “digital genera- projects such as the Gantenbein Vineyard tion” and on the other by innovative firms Façade showed that robotic arms are not and startups, researching applications that only capable of replicating human labor, but go beyond typical industry solutions. This can perform fabrication strategies that are is reflected in the structure of this book, outside the scope of human labor. which does not consist solely of full-length That was in 2006. In the past six scientific papers but has four distinct sec- years, more than 20 architecture faculties tions: workshop papers, research papers, around the globe have acquired industrial project papers, and industry papers. robots and are actively researching new and innovative uses for these multifunctional Workshop Papers machines, among them the University of Stuttgart, whose research pavilions have One of the centerpieces of the Rob|Arch been published worldwide by architectural conference is the robot workshops, orga- and mainstream media. nized by ETH Zurich, University of Stuttgart, At the end of 2010, the As- TU Delft, TU Vienna, TU Graz, Harvard GSD, sociation for Robots in Architecture was SciArc, and HAL/Robots in Architecture. For founded, with the goal of making industrial the first time, these internationally recog- robots accessible to the creative industry. nized institutions are opening their robotic We pursue that goal with a dual strategy, labs and allowing participants to take part on the one hand by developing custom tools in their exciting research. for accessible robot control, which later re- These workshops are not reca- sulted in e.g. KUKA|prc, and on the other pitulations of existing work, but contain hand by acting as an open platform for art- new ideas that were developed for this ists, designers, researchers, technicians, and conference and are published in this book. corporations involved in creative robotic Stuttgart’s workshop contribution builds fabrication. upon the joining technology that was ini- The idea of organizing the first in- tially developed for the research pavilion, ternational conference dedicated to robots and the influence of biomimetic design in architecture, art, and design emerged in strategies, while the ETH’s workshop paper mid-2011 and has since then met with an shows how their robotic bricklaying algo- extremely positive feedback from both uni- rithm has evolved into an accessible design versities and industry partners. tool. New interfaces are also a significant topic for most of the other workshop paper: Thibault Schwartz presents a versatile tool 9
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