當代建築設計的發展趨勢，越來越傾向透過演算設計，利用標準化材料構築不規則的建築形體，以追求形式上的複雜性。在此背景下，本文提出一種替代性方法，旨在有效運用非標準材料，結合幾何優化技術，實現更具彈性與創造性的建築設計方案。此方法不僅擴展了建築設計的可能性，也促進了材料運用的多樣性。透過直接利用非標準材料的獨特形態，無需經過高耗能的工業加工，即可轉化為建築構造元素，不僅提升了設計與製作的效率，也實現了更高的永續性目標。

本研究以三個主要構面組成機械手臂輔助的自適應工法：(1) 非標準材料的虛實放樣、(2)庫存匹配設計，以及 (3) 機械手臂的數位加工。在設計階段，融入3D掃描技術，將複雜的非標準材料關係簡化為線架構，並置入結構確定的建築形體中，使設計者能專注於型態的設計與製造階段的銜接。本研究運用電腦輔助製造軟體（Fusion 360）及機械手臂的路徑生成程式（Grasshopper中的KUKA|prc），使製造過程的加工路徑可視化，並模擬碰撞，從而達到木材的精準加工。最終，利用機械手臂的六軸靈活性，通過多向度的加工路徑來解決複雜榫接型式在加工過程中的挑戰。
實驗成果表，本研究提出之掃描—設計—製造整合流程可有效應用於不規則木材的結構建構中。透過實體原型製作驗證，機械手臂能精準加工來自實際掃描之木材構件，並完成組裝，展現高度的製造精度與接合強度。此結果證實本方法具備在非標準材料建築構造應用中的可行性與發展潛力，為未來永續建築與循環利用提供一種具操作性的技術路徑。

Contemporary architectural design increasingly trends toward the use of parametric design to construct irregular architectural forms using standardized materials, aiming to achieve formal complexity. Against this backdrop, this study proposes an alternative approach that effectively utilizes non-standard materials in combination with geometric optimization techniques, enabling more flexible and creative architectural solutions. This method not only expands the possibilities of architectural design but also promotes material diversity. By directly leveraging the unique forms of non-standard materials without the need for energy-intensive industrial processing, these materials can be transformed into architectural components, thereby enhancing both the efficiency and sustainability of the design and fabrication processes.
This research develops a robotic-assisted adaptive fabrication method composed of three main aspects: (1) digital–physical prototyping of non-standard materials, (2) inventory-based matching design, and (3) digital fabrication via robotic arms. In the design phase, 3D scanning technology is integrated to simplify the complex relationships of irregular materials into linear frameworks, which are then embedded within a structurally defined architectural form. This allows designers to focus on the development of form and its transition into fabrication. The study utilizes computer-aided manufacturing software (Fusion 360) along with robotic toolpath generation plugins (KUKA|prc in Grasshopper), enabling visualization of toolpaths and collision simulation, thereby achieving precise machining of timber. Ultimately, the six-axis flexibility of the robotic arm is employed to address the challenges of fabricating complex joinery through multi-directional machining strategies.
Experimental results demonstrate that the proposed Scan–Design–Fabrication integrated workflow can be effectively applied to structural construction using irregular timber. Through the fabrication of physical prototypes, robotic arms were able to precisely machine scanned timber elements and successfully assemble them, showcasing high accuracy and joint integrity. These results confirm the feasibility and potential of this method for architectural applications involving non-standard materials, offering a viable technological pathway for future sustainable architecture and material reuse.

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