“蜂群”打印桥梁

“蜂群”打印桥梁

学生组：SCL (陈铎，陈毅强，肖柳， Sasila Krishnasreni)

导师: Robert Stuart-Smith

工作室技术顾问：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

作为分布式空中机器人施工研究的延伸，本项目对作为设计内在特征之一的施工排序进行了研究。偏远地区的桥梁施工为无人机3D打印施工技术提供了契机。这些施工地点很难到达，因此需要从两边建造一座桥梁，如同两根悬臂在中间交汇。由于采用了施工排序，在施工过程中结构负荷会从两根悬臂一致转移至桥梁的横梁上。在这两种情况下，应力荷载的分布有所不同，因此需要不同的材料组织。通过并联机器人的打印方式，无人机群能够将桥梁打印出来，同时灵敏地应对结构类型的变化。此外，由于认识到在空中施工过程中，强风和极端天气可能造成与原始设计模型之间的偏差，因此该项目进行了实时预测性结构分析，让无人机在结构挠度过高时能够自动停止当前活动，并背靠峭壁建造一个附加的支撑结构，然后继续施工，以保持桥梁的结构完整性。该项目充分考虑了预想的设计和结构意图，并结合进行实时分析和反馈，以建造一座能体现施工机器人、环境与打印材料之间局部交互作用且材料优化的桥梁。研究表明，最终设计离不开其施工过程，设计和制作在整个施工过程中在本质上是相互关联的。AA.DRL罗伯特•斯图尔特-史密斯工作室研究了各种施工情况下的实际问题，并希望通过创意设计过程解决这些问题。我们认为，设计并非与合理化施工相对立，而是在生产过程得到统一的一种协作关系。我们希望通过这种方式实现独特的创新设计，这些设计应该在其概念阶段就能体现其切实而又经济的原则，确保设计和生产相辅相成。

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.

三维打印硬件原型 3d printer hardware prototype

三维打印材料原型 3d printer material prototype

无人机三维打印格子框架结构 uavs 3d print lattice structure

计算机模拟蜂群在空中的形态，利用实时预期的结构分析3d打印桥梁结构 digital simulation of a swarm of aerial robots (uavs) 3d printing a bridge structure utilising real-time anticipatory structural analysis

在桥梁建造过程中开启实时模拟结构分析系统 real-time anticipatory structural analysis is operating throughout the bridge construction

这个人行天桥设计为又一群无人机三维打印，它的主体结构从悬崖两侧开始悬挑搭建，随后在中间接合，开始与结束的结构外形会有所差异，打印的设计为此会不断调整，在需要的位置实时增加额外的支撑结构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

局部放大图：经过对施工过程中的结构进行优化后的异形梁架局部变化及材料肌理closeup visualisation of the locally differentiated ridging and material grain which has been optimised for satisfying structural criteria throughout the constructon of the bridge