Automated 3D weaving continuous natural fibre and optimising harakeke fibre characterisation : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Albany, New Zealand
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Date
2019
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Massey University
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Abstract
This research investigated the design and implementation of a continuous natural fibre filament
winding robot for modern artistic and structural architectural design. The idea of a new architectural
construction technique based on Arduino integration was inspired by the underwater nesting
structure of water spiders. It consists of the motion component, a 3-axis sliding table with limit
switches, the construction of the machine, the programming and testing of the resulting
microcomputer software through to a robot manufacturing process. This was based on Arduino’s new
integrated development environment. In addition, the intelligent programming mode forms the
preconceived pattern through winding, producing a model with unique architectural quality, and at
the same time, making a structure with superior material efficiency.
In terms of hardware design, the first conceptual model focused on using an open-source integrated
development environment (IDE) that could be easily configured. Arduino hardware was the primary
microcontroller of choice for simplicity and ease of hardware integration and software development.
Stepper motor drivers are used to control the three stepper motors to accurately move the fibre
feeding mechanism on the sliding table into position. The path of the sliding table is controlled by the
controller, and the machine can make forward, backward, wire feed and other movements according
to the programmed commands. The developed system automatically weaves and feeds natural fibre
into the desired structure. The resulting lightweight natural fibre material forms a model with unique
architectural quality.
The results show that the model is of great value and significance, and it can be used to make the
required structure with the desired natural fibre.
Additionally, to establish the feasibility of future work focusing on harakeke fibre development in
design and construction, the tensile strength of native New Zealand flax fibre (harakeke fibre) was
evaluated with a view for use in these load bearing and architectural design applications. Single
filament fibres were selected in batches and tensile tested. The longitudinal strength of specimens
was established, and the mechanical properties of the fibres were summarised. Comparison of these
attributes with existing data was used to determine if the harakeke fibre can be applied usefully in the
construction industry.
This research is based on the novel concept of architectural design in the construction industry using
3D weaving with natural fibres, in particular harakeke fibres. To achieve this, several related topics
are under investigation, such as the need to design an improved feeding system (including hardware
and software control), impregnation of fibre and resin (epoxy and polyester) to make preimpregnated
(prepreg) fibre/resin filament, adaptive controlled programme and hardware for the required
architecture and structure, and properties testing and characterisation. This project is one of the first
attempts to develop an automated robot arm system combined with new material, in this case
harakeke fibre, and has made a valuable contribution to this field of research.
Description
Some possibly copyrighted Figures remain for the sake of clarity.
Keywords
Building, Technological innovations, Robots, Design and construction, Weaving, Plant fibers, Phormium tenax, Testing, 3D-weaving and feeding machine, continuous fibre, architecture, tensile test, harakeke fibre