隨著建築產業面臨勞動力短缺與智慧化轉型需求，機械手臂混凝土列印（3D Concrete Printing, 3DCP）技術因具備提升幾何自由度與降低模板需求之潛力，而逐漸受到關注。然而，如何於自動化列印流程中有效整合鋼筋配置，以滿足鋼筋混凝土構件之結構需求，仍為該技術邁向實務應用的重要課題。
本研究提出一套「雙機械手臂協同建造系統」，以整合混凝土列印與鋼筋配置流程。研究內容主要包含（1）「設計運算」建立以機器建造為導向之設計與製造工法，將設計模型轉譯為具備構造邏輯之製造資訊；（2）「機器建造」透過路徑規劃策略與數位雙生（Digital Twin）模型之建立，確保虛擬規劃與實體施工間之空間對應與執行穩定性；（3）「協同系統」開發基於 ROS 之運動控制平台與電腦視覺定位模組，以實現雙機械手臂之協同運作
本研究之實作驗證分為三個階段。第一階段以「Graphcrete」混凝土柱構件建立單機械手臂之設計建造一體化流程；第二階開發一套機械手臂控制平台，用於控制 HIWIN 機械手臂用於多機器人協作；第三段階段則進一步發展雙機械手臂協同建造流程，由 KUKA 機械手臂執行混凝土列印作業，並於特定施工節點插入暫停程序，再由搭載深度相機空間定位系統之 HIWIN 機械手臂，執行箍筋之自動化夾取與放置，最終完成鋼筋混凝土列印構件。
本研究驗證了雙機械手臂協同建造流程於鋼筋混凝土列印構件製造上的可行性，並完成以設計建造一體化為核心之協同控制系統建構。同時，研究亦成功開發 RoboSim 輕量化模擬與控制平台，以提升多機器人系統整合之操作效率與控制直觀性。研究成果可作為未來鋼筋混凝土列印技術於結構整合、自動化施工與機器人協同建造發展之實證參考。

As the construction industry faces labor shortages and increasing demands for intelligent transformation, robotic 3D Concrete Printing (3DCP) has gained growing attention due to its potential to enhance geometric freedom and reduce formwork requirements. However, effectively integrating reinforcement placement into automated printing processes to satisfy the structural requirements of reinforced concrete components remains a critical challenge for the practical implementation of this technology.
This research proposes a dual-robot collaborative construction system that integrates concrete printing and reinforcement placement workflows. The study consists of three main parts: (1) “Design Computation,” which establishes a machine-oriented design-to-fabrication workflow that translates design models into fabrication information with embedded structural logic; (2) “Robotic Construction,” which utilizes path planning strategies and Digital Twin models to ensure spatial correspondence and execution stability between virtual planning and physical construction; and (3) “Collaborative System,” which develops a ROS-based motion control platform and computer vision localization module to enable collaborative operation between dual robotic systems.
The implementation and validation of this research were conducted in three stages. The first stage established an integrated design-to-fabrication workflow for a single robotic system through the fabrication of the “Graphcrete” concrete column component. The second stage developed a robotic control platform for operating the HIWIN robotic arm in multi-robot collaboration scenarios. The third stage further extended the workflow into a dual-robot collaborative construction process, where a KUKA robotic arm performed the concrete printing process, while pause procedures were inserted at specific construction stages to allow a HIWIN robotic arm equipped with a depth-camera-based spatial localization system to perform automated pickup and placement of stirrup reinforcements, ultimately completing the reinforced concrete printed component.
The results demonstrate the feasibility of applying a dual-robot collaborative construction workflow to the fabrication of reinforced concrete printed components and establish a collaborative control system centered on an integrated design-to-fabrication approach. In addition, this research successfully developed RoboSim, a lightweight simulation and control platform that improves the operational efficiency and intuitive interaction of multi-robot system integration. The outcomes of this study provide a practical reference for the future development of reinforced concrete printing technologies in structural integration, automated construction, and collaborative robotic fabrication.

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