{"id":1310,"date":"2023-11-11T02:02:25","date_gmt":"2023-11-10T18:02:25","guid":{"rendered":"https:\/\/rccn.dev\/?p=1310"},"modified":"2023-11-11T02:02:26","modified_gmt":"2023-11-10T18:02:26","slug":"robot-based-timber-tectonics","status":"publish","type":"post","link":"https:\/\/rccn.dev\/zh\/projects\/robot-based-timber-tectonics\/","title":{"rendered":"Robot based Timber Tectonics"},"content":{"rendered":"

Reproduction and Application of Traditional Chinese Timber Structure Components<\/h3>\n\n\n
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Adviser-<\/strong> Yang Ting Shen, \u8521\u4f91\u6a3a
Student- <\/strong>\u9ec3\u5ec9\u51f1
Date-<\/strong> Jul 2023<\/p>\n\n\n\n

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Methodology of reproduction<\/h2>\n\n\n\n

Background<\/h3>\n\n\n\n

In Chinese traditional timber construction, “Tou-Kung” is one of the distinctive components. Bracket serves as a structural element that supports the massive roof, resulting in an elegant curve on the facade. The essential details of Chinese traditional timber construction are recorded in ancient Chinese lang uage books and presented through hand drawn illustrations in works such as ” Ying-Zao-Fa-Shi (\uf9e1\u8aa1, 1103) and ” Ying-Zao-Fa Yuan (\u59da\u627f\u7956, 1986) . In the past, the production of bracket relied on the craftsmanship of artisans.

The fabrication of bracket components required meticulous refinement and precise assembly of various parts, which consumed a significant amount of time. The production process relied not only on the skills of the artisans but also on their logical understanding. With the rapid development of digital parameter tools such as Building Information Modelling (BIM), the idea of applying BIM for the “digitalization” of traditional architecture has become feasible. One of the earliest examples of applying parametric design in ancient Chinese architecture demonstrates that bracket is a key module of the entire structure. structure.(Yang-Ting Shen, 2022; Zhao et al., 2021)<\/p>\n\n\n\n

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Figure4-1 One of the traditional Chinese timber
construction methods recorded in the Ying-Zao-Fa-Shi
Source: Li Jie, (\uf9e1\u8aa1, 1103)<\/p>\n<\/div>\n\n\n\n

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Figure 4-2 The Ying-Zao-Fa-Shi documents various construction methods of bracket sets.
Source: Li Jie, (\uf9e1\u8aa1, 1103)<\/p>\n<\/div>\n<\/div>\n\n\n\n

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The research on bracket sets is distributed across multiple countries, such as Taiwan, Japan, Korea, and China, where these structures have been adopted in their ancient buildings or temples. Several studies have demonstrated that digital fabrication using CNC machines can replicate a significant portion of traditional bracket joint components. Takabayashi successfully reproduced traditional Japanese timber joint components using a CNC machine equipped with various tools such as circular saws, jigsaws, and reciprocating saws. (Takabayashi et al., 2018; Yang-Ting Shen, 2022)<\/p>\n\n\n\n

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Figure 4-3 Takabayashi utilized CNC technology to fabricate the Roof Corner of the Five Storied Pagoda
in the Japanese Traditional Timber Structure.
Source: H. Takabayashi, 201 9 (Takabayashi et al., 2018)<\/p>\n\n\n\n

Zhao, on the other hand, focuses on optimizing the structural behavior of bracket sets using parametric tools for manufacturing with a robotic system.(Zhao et al., 2021) Most of these studies mention that one of the key factors in replicating bracket set structures relies on the “correct” and “precise” digital models, which provide comprehensive manufacturing information. Therefore, the digitization of bracket sets for the intervention of digital fabrication tools becomes a critical task in this research.(Yang-Ting Shen, 2022)<\/p>\n<\/div><\/div>\n\n\n\n

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Method<\/h3>\n\n\n\n

This study selected the “corner set” (\u8f49\u89d2\u92ea\u4f5c) from the Nan Chan Temple in Mount Wutai as the prototype for reproducing the traditional Chinese timber structure known as “five bracketing with double eaves and overlapping rafters” (\u4e94\u92ea\u4f5c\u96d9\u676a\u5077\u5fc3\u9020). The chosen structure comprises the roof support system and the columns \u91d1\u67f1 representing a typical combination in Chinese traditional timber construction. In this chapter, we present an integrated workflow based on Building Information Modeling (BIM) and robot based manufacturing for the preservation and reproduction of bracket craftsmanship. The experiment aims to achieve the following three objectives:<\/p>\n\n\n\n

(1) Digitally preserve the “form” and “relationship” characteristics of the bracket.<\/h4>\n\n\n\n

The bracket is a general term for Chinese traditional timber construction, encompassing several different structural typologies. Therefore, it is essential to identify the specific typology or characteristics of the components through literature or existing structures. Subsequently, parameter descriptions can be developed based on these identified features for the purpose of digital preservation. <\/p>\n\n\n\n

(2) Perform assembly and machining simulations using the digital twin model.<\/h4>\n\n\n\n

Before actual manufacturing takes place, all demonstrations must be achieved through a “virtual” model. Therefore, the concept of digital twinning is crucial. Whether it is assembly testing, selection of processing methods, actual processing conditions, or real world environmental parameters, they all require the assistance of the digital twin model to enable proactive assessment of potential events and the formulation of corresponding strategies to avoid unforeseen circumstances.<\/p>\n\n\n\n

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Figure 4-4 Explanation of the simulation items included in the digital twin and their hierarchical relationships.
Source: This figure was illustrated by the author.<\/p>\n<\/div>\n\n\n\n

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Figure 4-5 Explanation of the features and components of the ” Wu Pu Zuo Shuang Miao Tou Xin Zao ” (\u4e94\u92ea\u4f5c\u96d9\u676a\u5077\u5fc3\u9020):
1) Numerals: Refers to the types of brackets used.
2) Shuang Miao Position: Indicates the Roman numeral of bracket extensions from the column
3)Tou Xin Position
Source: This figure was illustrated by the author.<\/p>\n<\/div>\n<\/div>\n\n\n\n

(3) Reproduce all components of the bracket through digital manufacturing and
complete the assembly process.<\/h4>\n\n\n\n

The main reason for choosing robot based manufacturing in this study is that traditional Chinese timber structures exhibit a significant characteristic of complex and relatively unique components, with a limited number of repetitive elements. Therefore, the customization aspect becomes crucial for their reproduction. Robot based manufacturing offers the advantage of meeting this requirement, making it an appropriate choice for assisting in the fabrication of the majority of the components in the timber structure.<\/p>\n\n\n

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Figure 4-6 Schematic diagram of the bracket components in the ” zhuan jiao pu zuo” of this study.
Source: This figure was illustrated by the aauthor.<\/p>\n\n\n\n

We begin the entire workflow by establishing a BIM bracket model based on literature. This model includes both geometric and non geometric data. The geometric data provide relevant descriptions of the overall shapes of bracket components, while the non geometric data describes the assembly relationships among various components, such as the logical connections and assembly sequence of the components, such as the ” Tou” and “Kung.” Subsequently, based on the BIM database, we plan the manufacturing information for the robot, allowing the robot arm to reproduce the bracket components in the style of Nan Chan Temple.<\/p>\n<\/div><\/div>\n\n\n\n

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Robot base manufacturing environment and tools<\/h3>\n\n\n\n

Processing environment<\/strong><\/h4>\n\n\n\n

The robotic manufacturing setup consists of the following components:<\/p>\n\n\n\n