斯图加特仿生结构展馆 ICD/ITKE Research Pavilion 2014-15 / ICD
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ICD：ICD/ITKE研究館2014-15展示了一種新型建築方法的建築潛力，其靈感來自於水蜘蛛的水下巢穴結構，利用新型的機器人製造工藝，從內部用碳纖維加固氣動模板，使其逐漸變硬，由此產生的輕質纖維複合外殼形成了一個具有獨特建築品質同時也具有高材料效率的展館結構。
ICD：The ICD/ITKE Research Pavilion 2014-15 demonstrates the architectural potential of a novel building method inspired by the underwater nest construction of the water spider. Through a novel robotic fabrication process an initially flexible pneumatic formwork is gradually stiffened by reinforcing it with carbon fibers from the inside. The resulting lightweight fiber composite shell forms a pavilion with unique architectural qualities, while at the same time being a highly material-efficient structure.
▼靈感來源 Source of inspiration
▼視頻 Video
斯圖加特大學的計算設計研究所(ICD)和建築結構與結構設計研究所(ITKE)新建了2014-2015年ICD/ITKE研究展館後，繼續展開了他們的展館系列研究。這些建築原型探索了新的計算設計、模擬和製造過程在建築中的應用潛力。該展館是在兩個研究所的研究領域和他們在跨學科和國際ITECH MSc項目背景下的合作教學的交叉點開發的。這個典型的項目是由建築、工程和自然科學的研究人員和學生經過一年半的研究開發而成的。
The Institute for Computational Design (ICD) and the Institute of Building Structures and Structural Design (ITKE) continue their series of research pavilions with the new ICD/ITKE Research Pavilion 2014-15 at the University of Stuttgart. These building prototypes explore application potentials of novel computational design, simulation and fabrication processes in architecture. The pavilion was developed at the intersection of the two institute's research fields and their collaborative teaching in the context of the interdisciplinary and international ITECH MSc program. This prototypical project is the result of one and a half years of development by researchers and students of architecture, engineering and natural sciences.
該展館的設計理念基於對纖維增強結構的生物構建過程的研究。這些過程與體系結構中的應用程序相關，因為它們不需要復雜的模板，並且能夠適應各個結構的不同需求。生物構建過程以高度材料有效和功能集成的方式形成定制的纖維增強結構。在這方面，潛水鐘形水蜘蛛(Agyroneda Aquatica)的織網過程特別有趣的，通過研究水蜘蛛的腹板構造過程，分析、抽像水蜘蛛的基本行為模式和設計規則，我們將其轉化為了建築技術工藝製造過程。
The design concept is based on the study of biological construction processes for fiber-reinforced structures. These processes are relevant for applications in architecture, as they do not require complex formwork and are capable of adapting to the varying demands of the individual constructions. The biological processes form customized fiber-reinforced structures in a highly material-effective and functionally integrated way. In this respect the web building process of the diving bell water spider, (Agyroneda Aquatica) proved to be of particular interest. Thus the web construction process of water spiders was examined and the underlying behavioral patterns and design rules were analyzed, abstracted and transferred into a technological fabrication process.
水蜘蛛一生大部分時間都生活在水下，為了生存，它建造了一個加固的氣泡。水蜘蛛首先會建立一個水平的薄片網，在下面放置氣泡，然後，通過從內部鋪設分層排列的纖維來依次增強氣泡，最後形成可以承受機械壓力，如改變水流的穩定結構，為蜘蛛提供一個安全穩定的棲息地。這個自然的生產過程展示瞭如何利用自適應製造策略來創建高效的纖維增強結構。
The water spider spends most of its life under water, for which it constructs a reinforced air bubble to survive. First, the spider builds a horizontal sheet web, under which the air bubble is placed. In a further step the air bubble is sequentially reinforced by laying a hierarchical arrangement of fibers from within. The result is a stable construct that can withstand mechanical stresses, such as changing water currents, to provide a safe and stable habitat for the spider. This natural production process shows how adaptive fabrication strategies can be utilized to create efficient fiber-reinforced structures.
為了將這種生物形成序列轉化為建築施工應用，我們開發了一種建築工藝，即將工業機器人放置在由ETFE製成的空氣支撐薄膜包膜內，這個膨脹的軟殼最初由氣壓支撐而起的，然後，通過用碳纖維機械加強內部，使它逐漸變硬成為一個自支撐的硬殼結構。碳纖維僅有選擇地使用在結構需要加固的地方，氣動模板同時作為功能集成的建築表皮，這就是一個資源高效的建設過程。
For the transfer of this biological formation sequence into a building construction application, a process was developed in which an industrial robot is placed within an air supported membrane envelope made of ETFE. This inflated soft shell is initially supported by air pressure, though, by robotically reinforcing the inside with carbon fiber, it is gradually stiffened into a self-supporting monocoque structure. The carbon fibers are only selectively applied where they are required for structural reinforcement, and the pneumatic formwork is simultaneously used as a functionally integrated building skin. This results in a resource efficient construction process.
▼施工細節 Construction detail
在設計和施工過程的初始階段，採用計算形式生成殼體幾何形狀和主要纖維束位置，該方法結合了製造約束和結構仿真。為了確定和調整光纖佈局，我們提出了一種基於計算代理的設計方法，與蜘蛛類似，利用數字代理導航表面外殼幾何形狀，生成一個用於纖維放置的機器人路徑，其代理行為源自各種相關的設計參數。這種計算設計過程使設計師能夠導航，並同時將這些設計參數集成到各種性能化纖維取向和密度中。
At the beginning of the design and construction process, the shell geometry and main fiber bundle locations are generated by a computational form finding method, which integrates fabrication constraints and structural simulation. In order to determine and adjust the fiber layouts a computational agent-based design method has been developed. Similar to the spider, a digital agent navigates the surface shell geometry generating a proposed robot path for the fiber placement. The agent behavior is derived from a variety of interrelated design parameters. This computational design process enables the designer to navigate and simultaneously integrate these design parameters into various performative fiber orientations and densities.
▼計算機參數設計 Computer parameter design © ICD-ITKE
根據自適應計算設計策略，開發了一種用於柔性膜內部碳纖維增強的原型機器人製造工藝。但氣動模板剛度的變化以及纖維放置過程中產生的變形波動對機器人的控制要求會比較高，為了在生產過程中精確表達這些參數，我們通過嵌入式傳感器系統記錄當前的位置和接觸力，並實時集成到機器人控制中，這種網絡物理系統的開發使得實際生產條件和機器人控制代碼的數字生成之間能夠不斷反饋，這不僅代表了該項目的一個重要發展，而且更廣泛地為自適應機器人施工過程提供了新的機會。
Corresponding to the adaptive computational design strategy, a prototypical robotic fabrication process was developed for carbon fiber reinforcement on the inside of a flexible membrane. The changing stiffness of the pneumatic formwork and the resulting fluctuations in deformation during the fiber placement process pose a particular challenge to the robot control. In order to adapt to these parameters during the production process the current position and contact force is recorded via an embedded sensor system and integrated into the robot control in real time. The development of such a cyber-physical system allows constant feedback between the actual production conditions and the digital generation of robot control codes. This represents not only an important development in the context of this project, but more generally provides new opportunities for adaptive robotic construction processes.
製造過程的原型特徵要求開發一個定制的機器人工具，允許基於集成傳感器數據放置碳纖維。該工具的技術開發成為建築設計過程中不可或缺的一部分，這一過程也對材料體系提出了特殊的挑戰，由於ETFE是一種耐用的外立面材料，其力學性能使纖維放置過程中的塑性變形最小化，因此ETFE被認為是一種可適用於氣動模板和一體化建築圍護結構的材料。通過使用ETFE薄膜作為氣動模板和建築圍護結構，實現了高度的功能集成，這節省了傳統模板技術的材料消耗，以及額外的立面安裝過程。複合粘合劑在ETFE薄膜和碳纖維之間提供了適當的粘結，在生產過程中，平行放置九根預浸漬碳纖維片，在5公里的機器人路徑上以0.6米分鐘的平均速度鋪設45公里的碳粗紗，這種添加工藝不僅允許纖維複合材料的應力定向放置，而且還能將與典型減法施工工藝相關的建築垃圾降至最低。 2014-15ICD / ITKE研究館建築面積約40平方米，內部容積約130立方米，跨度7.5米，高4.1米，總建築重量僅260公斤，相當於6.5公斤/平方米。
The prototypical character of the fabrication process required the development of a custom made robot tool that allows placement of carbon fibers based on integrated sensor data. The technical development of this tool became an integral part of the architectural design process. This process also posed special challenges for the material system. ETFE was identified as a suitable material for the pneumatic formwork and integrated building envelope, since it is a durable facade material and its mechanical properties minimize plastic deformation during the fiber placement. A high degree of functional integration is achieved through the use of the ETFE film as pneumatic formwork and building envelope. This saves the material consumption of conventional formwork techniques as well as an additional façade installation. A composite adhesive provided a proper bond between the ETFE film and the carbon fibers. During production nine pre- impregnated carbon fiber rovings are placed in parallel. 45 km of carbon roving were laid at an average speed of 0.6 m min on 5km of robot path. This additive process not only allows stress-oriented placement of the fiber composite material, but it also minimizes the construction waste associated with typically subtractive construction processes. The ICD / ITKE Research Pavilion 2014-15 covers an area of about 40m2 and an internal volume of approximately 130m3 with a span of 7.5m and a height of 4.1m. The total construction weight is just 260kg, which corresponds to a weight of 6.5 kg / m2.
2014-2015年ICD / ITKE研究館作為先進計算設計、仿真和製造技術的演示者，展示了跨學科研究和教學的創新潛力。該原型建築將纖維複合材料的各向異性特徵作為一種建築品質表達出來，並以一種新穎的紋理和結構反映了底層過程，它不僅是一個特別有效的建築材料，而且是一個創新和富有表現力的建築演示者。
The ICD / ITKE Research Pavilion 2014-15 serves as a demonstrator for advanced computational design, simulation and manufacturing techniques and shows the innovative potential of interdisciplinary research and teaching. The prototypical building articulates the anisotropic character of the fiber composite material as an architectural quality and reflects the underlying processes in a novel texture and structure. The result is not only a particularly material-effective construction, but also an innovative and expressive architectural demonstrator.
地址：德國斯圖加特Keplerstr. 11-17, 70174
完成時間：2015年6月
面積：40平方米
體積：130立方米
跨度：7.5米
高度：4.1米
建築重量：260公斤
Adress: Keplerstr. 11-17, 70174 Stuttgart, Germany
Completion: June 2015
Area: 40 m2
Volume: 130 m3
Span: 7.5 m
Height: 4.1 m
Construction weight: 260 kg
項目團隊 PROJECT-TEAM
Institute for Computational Design – Prof. Achim Menges
Institute of Building Structures and Structural Design – Prof. Jan Knippers
科技開發 SCIENTIFIC DEVELOPMENT
Moritz Dörstelmann, Valentin Koslowski, Marshall Prado, Gundula Schieber, Lauren Vasey
系統開發、製造及施工 SYSTEM DEVELOPMENT, FABRICATION & CONSTRUCTION
WS13/14, SoSe14, WS14/15: Hassan Abbasi, Yassmin Al-Khasawneh, Yuliya Baranovskaya, Marta Besalu, Giulio Brugnaro, Elena Chiridnik, Tobias Grun, Mark Hageman, Matthias Helmreich, Julian Höll, Jessica Jorge, Yohei Kanzaki, Shim Karmin , Georgi Kazlachev, Vangel Kukov, David Leon, Kantaro Makanae, Amanda Moore, Paul Poinet, Emily Scoones, Djordje Stanojevic, Andrei Stoiculescu, Kenryo Takahashi and Maria Yablonina
WS14/15: Rebecca Jaroszewski, Yavar Khonsari, Ondrej Kyjanek, Alberto Lago, Kuan-Ting Lai, Luigi Olivieri, Guiseppe Pultrone, Annie Scherer, Raquel Silva, Shota Tsikoliya
With the support of: Ehsan Baharlou, Benjamin Felbrich, Manfred Richard Hammer, Axel Körner, Anja Mader, Michael Preisack, Seiichi Suzuki, Michael Tondera
合作夥伴 IN COLLABORATION WITH:
Departement of Evolutionary Biology of Invertebrates, University of Tuebingen Prof. Dr.Oliver Betz
Departement of Palaeontology of Invertebrates, University of Tuebingen Prof. Dr.James Nebelsick, Dr.Christoph Allgaier
Institute for Machine Tools, University of Stuttgart
Dr. Thomas Stehle, Rolf Bauer, Michael Reichersdörfer
Institute of Aircraft Design, University of Stuttgart Stefan Carosella, Prof. Dr.-Ing. Peter Middendorf
更多 Read more about: ICD
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