當代建築數位製造的發展，逐漸由幾何造型的生成，進一步轉向設計、結構分析、材料性能與自動化製造之整合。3D混凝土列印具有降低傳統模板依賴、提升幾何自由度與連結數位模型至製造端的潛力，然而現有列印方法多以水平分層為主，面對雙曲面殼體、傾斜構件與大尺度建築形體時，仍容易受到列印範圍、材料堆疊穩定性、路徑變形及構件組裝精度等限制。因此，本研究提出一套結合非平面列印、有限元素分析與單元式組建工法之整合方法，藉由列印前的力學評估與失效預測，降低實際製造過程中的試誤與材料浪費，並提升複雜殼體構造的製造可行性。

本研究以四個主要構面建立非平面混凝土列印之整合流程，包括：(1)列印用混凝土之材料性能與失效判讀、(2)受壓殼體之參數化設計與結構分析、(3)機械手臂輔助之非平面路徑規劃，以及(4)單元式列印構件之組裝工法。設計階段以Rhino與Grasshopper建立殼體幾何，並透過Kangaroo之粒子—彈簧系統進行受力找形，再以Karamba執行整體力流、應力／強度比與位移分析。製造階段則利用KUKA|prc建立六軸機械手臂之列印路徑與姿態控制，模擬工具可達性、路徑連續性與碰撞風險，並將層高、路徑寬度、列印速度、構件高度與材料楊氏模量等參數納入失效評估。

實驗結果顯示，本研究所建立之「設計—模擬—製造—組裝」流程，可有效辨識非平面列印中可能產生彎曲、外擴、塑性崩塌與局部失穩之區域。Karamba模擬結果與實際列印現象具有一定程度的對應性，能作為列印前之風險篩選與參數調整工具。非平面殼體實驗中，方案設計與改變，顯示列印高度與路徑配置對構件穩定性具有直接影響。最終，透過CNC格狀輔助製具、單元定位及砌體接合完成殼體構件之組裝，證實本方法具備應用於非平面混凝土列印與單元式殼體工法之可行性與發展潛力，並為未來數位模板、預製構件及複雜曲面建築製造提供一項可操作的工作流程。

Contemporary architectural digital fabrication is shifting from geometric form generation toward the integration of design, structural analysis, material behavior, and automated manufacturing. Three-dimensional concrete printing can reduce formwork, increase geometric freedom, and connect digital models directly with construction. However, conventional horizontal-layer printing remains limited when applied to doubly curved shells and inclined or large-scale components because of robotic reach, material buildability, printing deformation, and assembly accuracy. This study therefore proposes an integrated workflow combining non-planar concrete printing, finite element analysis, and unitized shell assembly. Structural evaluation and failure prediction are introduced before fabrication to reduce trial and error, material waste, and geometric instability.
The framework covers four aspects: printable concrete failure evaluation, parametric design and structural analysis of compression-based shells, robotic non-planar toolpath planning, and printed-unit assembly. Shell geometries were developed in Rhino and Grasshopper, with Kangaroo used for particle–spring form finding. Karamba evaluated force flow, stress-to-strength ratios, and displacement, while KUKA|prc generated six-axis robotic paths and controlled nozzle orientation. Layer height, path width, printing speed, component height, and Young’s modulus were incorporated into the failure assessment.
Experiments showed that the proposed workflow could identify bending, lateral expansion, plastic collapse, and local instability before printing. Karamba simulations corresponded with observed printing behavior and served as a preliminary tool for risk screening and parameter adjustment. In the shell experiment, the forty-layer specimen failed in bending, whereas the revised thirty-layer specimen maintained greater geometric stability. The printed units were subsequently assembled using CNC-fabricated positioning fixtures and masonry-based joints. These results demonstrate the feasibility of integrating non-planar concrete printing, structural simulation, and unitized shell construction.

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永峻結構https://www.egc.com.tw/masterpiece.php?post=3
明日誌 高第懸鍊結構https://www.mottimes.com/article/detail/1472
Robot Programming with Kuka|prc https://mkmra2.blogspot.com/2016/01/robot-programming-with-kukaprc.html
X TREE Krypton, a column in Aix-en-Provence https://www.xtreee.com/uses-cases/krypton%2C-a-column-in-aix-en-provence
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Vertico accelerator printing head https://www.vertico.com/printhead/accelerator