Continuous Mobile Thin-Layer On-Site Printing
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Date
2023-02
Publication Type
Journal Article
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yes
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Abstract
Quasi-static robotic systems and discrete fabrication strategies fall short of the capabilities needed for automating on-site plastering, which involves operating over large spans and maintaining material continuity. This paper presents continuous, mobile Robotic Plaster Spraying (RPS) – a thin-layer, spray-based printing-in-motion technique using cementitious plaster – realized on a prototypical construction site. The experimental setup consists of a fully mobile, custom wheeled base that is synchronized with a robotic arm, and an integrated pumping and spraying system. In this 1:1 scale application, the print layers are executed during the motion of the mobile robot and they are printed vertically on the walls of an existing building structure. The experiments showcase the potentials of producing bespoke – three-dimensional – or standardized – flat – plasterwork with the proposed technique. The results demonstrate the applicability and scalability of RPS and the findings contribute to the research on mobile additive fabrication.
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published
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Book title
Journal / series
Volume
146
Pages / Article No.
104634
Publisher
Elsevier
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Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Continuous Mobile 3D Printing; Cementitious Plasterwork; On-Site Workflow; Prediction and Visualization of Material Behaviour
Organisational unit
03709 - Kohler, Matthias / Kohler, Matthias
03708 - Gramazio, Fabio / Gramazio, Fabio
09570 - Hutter, Marco / Hutter, Marco
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication