架构师提供的文本描述。2012年11月，斯图加特大学计算设计研究所(ICD)和建筑结构和结构设计研究所(ITKE)完成了一个完全由碳纤维和玻璃纤维复合材料机械制造的研究室。这一跨学科项目由两个研究所的建筑和工程研究人员与教员的学生以及Tübingen大学的生物学家合作进行，研究仿生设计策略与机器人生产的新工艺之间可能存在的相互关系。本研究以节肢动物外骨骼的材料和形态原理为基础，探索一种新的建筑学复合构造范式。

Text description provided by the architects. In November 2012 the Institute for Computational Design (ICD) and the Institute of Building Structures and Structural Design (ITKE) at the University of Stuttgart have completed a research pavilion that is entirely robotically fabricated from carbon and glass fibre composites. This interdisciplinary project, conducted by architectural and engineering researchers of both institutes together with students of the faculty and in collaboration with biologists of the University of Tübingen, investigates the possible interrelation between biomimetic design strategies and novel processes of robotic production. The research focused on the material and morphological principles of arthropods’ exoskeletons as a source of exploration for a new composite construction paradigm in architecture.

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该项目的核心是在建筑工业背景下开发一种基于碳纤维和玻璃纤维长丝缠绕的创新机器人制造工艺，以及相关的计算设计工具和模拟方法。该项目的一个关键方面是将生物角色模型的纤维形态转化为纤维增强复合材料，其各向异性从一开始就被集成到基于计算机的设计和模拟过程中，从而为建筑带来了新的构造可能性。将形态生成方法、计算模拟和机器人制造相结合，特别促成了一种高性能结构的发展：展馆只需要4毫米厚的复合层压板，跨越8米。

At the core of the project is the development of an innovative robotic fabrication process within the context of the building industry based on filament winding of carbon and glass fibres and the related computational design tools and simulation methods. A key aspect of the project was to transfer the fibrous morphology of the biological role model to fibre-reinforced composite materials, the anisotropy of which was integrated from the start into the computer-based design and simulation processes, thus leading to new tectonic possibilities in architecture. The integration of the form generation methods, the computational simulations and robotic manufacturing, specifically allowed the development of a high performance structure: the pavilion requires only a shell thickness of four millimetres of composite laminate while spanning eight metres.

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采用“自下而上”的方法，对节肢动物的物质各向异性和功能形态进行了初步的研究。对观察到的生物原理进行了分析和抽象，以便随后转化为可行的建筑应用设计原则。对美洲龙虾(Homarus Americanus)的外骨骼进行了较为详细的分析，并对其局部物质的分化进行了分析，最终成为该项目的生物学模型。

Following a “bottom-up” approach, a wide range of different subtypes of invertebrates were initially investigated in regards to the material anisotropy and functional morphology of arthropods. The observed biological principles were analysed and abstracted in order to be subsequently transferred into viable design principles for architectural applications. The exoskeleton of the lobster (Homarus americanus) was analysed in greater detail for its local material differentiation, which finally served as the biological role model of the project.

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龙虾的外骨骼(表皮)由一个柔软的部分，内层，和一个相对坚硬的层，外皮。角质层是一种分泌产物，甲壳素纤维被嵌入到蛋白质基质中。纤维的位置和取向以及相关材料特性的具体差别符合当地的具体要求。甲壳素纤维通过形成单个单向层而结合在基体中。在需要无方向载荷转移的区域，这些单独的层被层叠在螺旋(螺旋)排列中。由此产生的各向同性纤维结构允许在各个方向上均匀分布荷载。另一方面，受定向应力分布影响的区域呈现单向层结构，显示了一个各向异性纤维组件，为定向载荷传递进行了优化。由于这种局部材料的差异，壳创造了一个高度适应和有效的结构。局部适应纤维取向的抽象形态原理为展馆的计算形态生成、材料设计和制造过程奠定了基础。

The lobster’s exoskeleton (the cuticle) consists of a soft part, the endocuticle, and a relatively hard layer, the exocuticle. The cuticle is a secretion product in which chitin fibrils are embedded in a protein matrix. The specific differentiation of the position and orientation of the fibres and related material properties respond to specific local requirements. The chitin fibres are incorporated in the matrix by forming individual unidirectional layers. In the areas where a non-directional load transfer is required, such individual layers are laminated together in a spiral (helicoidal) arrangement. The resulting isotropic fibre structure allows a uniform load distribution in every direction. On the other hand, areas which are subject to directional stress distributions exhibit a unidirectional layer structure, displaying an anisotropic fibre assembly which is optimized for a directed load transfer. Due to this local material differentiation, the shell creates a highly adapted and efficient structure. The abstracted morphological principles of locally adapted fibre orientation constitute the basis for the computational form generation, material design and manufacturing process of the pavilion.

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通过与生物学家的合作，对龙虾外骨骼的纤维取向、纤维排列及相关层厚度和刚度梯度进行了细致的研究。角质层的高效率和功能变异是由于外骨骼形态、纤维取向和基质的特定组合所致。将这些原理应用于机器人制造的基于纤维复合材料系统的壳体结构中，机器人连续铺设树脂饱和玻璃和碳纤维，形成了具有自定义纤维取向的复合结构。

In collaboration with the biologists, the fibre orientation, fibre arrangement and associated layer thickness and stiffness gradients in the exoskeleton of the lobster were carefully investigated. The high efficiency and functional variation of the cuticle is due to a specific combination of exoskeletal form, fibre orientation and matrix. These principles were applied to the design of a robotically fabricated shell structure based on a fibre composite system in which the resin-saturated glass and carbon fibres were continuously laid by a robot, resulting in a compounded structure with custom fibre orientation.

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在现有的纤维放置技术中，例如在航空航天工业或先进的帆生产中，纤维通常被放置在单独制造的正模上。由于建造一个完整的正面模板对建筑业来说是相当不合适的，因此该项目的目的是将正面的形式降到最低。因此，这些纤维被放置在一个临时的轻量级线性钢框架上，在这个框架中有固定的锚固点，纤维之间被拉紧。从预应力纤维的直线段，表面的出现，形成了典型的双曲形状的展馆。这样，由第一组玻璃纤维缠绕而成的双曲抛物面作为后续碳纤维层和玻璃纤维层的整体模型，具有特殊的结构用途和承载性能。换句话说，展馆本身建立了积极的模板作为机器人制造序列的一部分。此外，在制作过程中，有可能放置纤维，使它们的方向与展馆表面的力流最佳地对齐。该结构还集成了连续监测应力和应变变化的光纤传感器。该项目同时考虑了壳体的几何形状、纤维排列和制造工艺，导致了一种新的形式、材料、结构和性能的综合。

In existing fibre placement techniques, e.g. in the aero-space industry or advanced sail production, the fibres are typically laid on a separately manufactured positive mold. Since the construction of a complete positive formwork is fairly unsuitable for the building industry, the project aimed to reduce the positive form to a minimum. As a consequence, the fibres were laid on a temporary lightweight, linear steel frame with defined anchor points between which the fibres were tensioned. From the straight segments of the prestressed fibres, surfaces emerge that result in the characteristic double curved shape of the pavilion. In this way the hyperbolic paraboloid surfaces resulting from the first sequence of glass fibre winding serve as an integral mould for the subsequent carbon and glass fibre layers with their specific structural purposes and load bearing properties. In other words, the pavilion itself establishes the positive formwork as part of the robotic fabrication sequence. Moreover, during the fabrication process it was possible to place the fibres so that their orientation is optimally aligned with the force flow in the skin of the pavilion. Fibre optic sensors, which continuously monitor the stress and strain variations, were also integrated in the structure. The project’s concurrent consideration of shell geometry, fibre arrangement and fabrication process leads to a novel synthesis of form, material, structure and performance.

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通过这种高度的整合，传递了生物结构的基本特性：-异质性：六种不同的纤维缠绕顺序控制了纤维层数的变化和各层的纤维取向。它们的设计目的是尽量减少材料消耗，同时最大限度地提高结构的刚度，从而产生显著的材料效率和非常轻的结构。等级：玻璃纤维主要用作空间隔断元件，并用作下列各层的模板，而较硬的碳纤维则主要有助于系统的荷载传递和整体刚度。-功能整合：除了用于负载转移的结构碳纤维和用于空间连接的玻璃纤维外，还可以将照明和结构监测的功能纤维集成到系统中。

Through this high level of integration the fundamental properties of biological structures were transferred: - Heterogeneity: six different filament winding sequences control the variation of the fibre layering and the fibre orientation of the individual layers at each point of the shell. They are designed to minimize material consumption whilst maximizing the stiffness of the structure resulting in significant material efficiency and a very lightweight structure. - Hierarchy: the glass fibres are mainly used as a spatial partitioning element and serve as the formwork for the following layers, whilst the stiffer carbon fibres contribute primarily to the load transfer and the global stiffness of the system. - Function integration: in addition to the structural carbon fibres for the load transfer and the glass fibres for the spatial articulation, functional fibres for illumination and structural monitoring can be integrated in the system.

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该项目的设计、开发和实现的先决条件是建立一个连接项目模型、有限元模拟、材料测试和机器人控制的封闭的数字信息链。造型设计、材料设计和结构设计直接结合在设计过程中，将形态、材料、结构和制造技术的复杂交互作用作为仿生设计方法的一个重要组成部分。将几何和有限元模拟直接耦合到计算模型中，可以生成大量变化并进行比较分析。同时，材料测试确定的纤维复合材料的力学性能也包括在成型和材料优化过程中。通过一种基于梯度的方法来优化纤维和层的排列，使得在材料使用最少的情况下，能够开发出一种高效的结构。

A prerequisite for the design, development and realization of the project was a closed, digital information chain linking the project’s model, finite element simulations, material testing and robot control. Form finding, material and structural design were directly integrated in the design process, whereby the complex interaction of form, material, structure and fabrication technology could be used as an integral aspect of the biomimetic design methodology. The direct coupling of geometry and finite element simulations into computational models allowed the generation and comparative analysis of numerous variations. In parallel, the mechanical properties of the fibre composites determined by material testing were included in the process of form generation and material optimization. The optimization of the fibre and layer arrangement through a gradient-based method, allowed the development of a highly efficient structure with minimal use of material.

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研究展馆的机器人制造是在一个专用的、耐候的制造环境中由一个6轴的机器人与一个外部的第七轴连接在一起进行的。机器人将纤维放置在2米高的基座上，达到4米的整体工作跨度和高度，将纤维放置在临时钢框架上，由机器人控制的转台进行圆形运动。作为制造过程的一部分，在机器人放置前，纤维在通过树脂槽时被树脂饱和。这种特殊的设置使得通过连续缠绕60公里以上的纤维粗纱，可以实现直径约8.0米，高度3.5米的结构。在自定义设计和制造集成环境中，可以实现与数字几何模型相关的缠绕运动路径的参数化定义，包括与外轴数学耦合的机器人运动规划，以及机器人控制代码本身的生成。在完成机械丝缠绕过程和纤维-树脂复合材料的回火后，临时钢框架可以拆卸和拆除。剩下的极薄的薄壳只有4mm厚，构成一个自动制造，但局部区分的结构。

The robotic fabrication of the research pavilion was performed on-site in a purpose-built, weatherproof manufacturing environment by a 6-axis robot coupled with an external seventh axis. Placed on a 2m high pedestal and reaching an overall working span and height of 4m, the robot placed the fibres on the temporary steel frame, which was actuated in a circular movement by the robotically controlled turntable. As part of the fabrication process the fibres were saturated with resin while running through a resin bath directly prior to the robotic placement. This specific setup made it possible to achieve a structure of approximately 8.0m in diameter and 3.5m height by continuously winding more than 60 kilometres of fibre rovings. The parametric definition of the winding motion paths in relation to the digital geometry model, the robotic motion planning including mathematical coupling with the external axis, as well as the generation of robot control code itself could be implemented in a custom-developed design and manufacturing integrated environment. After completion of the robotic filament winding process and the subsequent tempering of the fibre-resin composite, the temporary steel frame could be disassembled and removed. The remaining, extremely thin shell of just 4mm thickness constitutes an automatically fabricated, but locally differentiated structure.

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在计算设计过程中，龙虾角质层仿生原理与新开发的机器人碳纤维和玻璃纤维缠绕的逻辑相结合，为建筑提供了高水平的结构性能和新的构造机遇。尽管它的尺寸和跨度相当大，但展馆的半透明外壳重量不足320公斤，通过碳纤维和玻璃纤维的空间排列，揭示了该系统的结构逻辑。综合计算和材料设计、数字模拟和机器人制造的新模式，既可以探索建筑可能性的新方案，也可以开发极其轻量级和材料效率极高的结构。

The concurrent integration of the biomimetic principles of the lobster’s cuticle and the logics of the newly developed robotic carbon and glass fibre filament winding within the computational design process, enable a high level of structural performance and novel tectonic opportunities for architecture. Despite its considerable size and span, the semi-transparent skin of the pavilion weighs less than 320kg and reveals the system’s structural logic through the spatial arrangement of the carbon and glass fibres. The synthesis of novel modes of computational and material design, digital simulation and robotic fabrication allows both the exploration of a new repertoire of architectural possibilities and the development of extremely lightweight and materially efficient structures.