Design of a multi-agent, fiber composite digital fabrication system

Kayser, Markus; Cai, Levi; Falcone, Sara Elizabeth; Bader, Christoph; Inglessis, Nassia; Darweesh, Barrak; Oxman, Neri

doi:10.1126/scirobotics.aau5630

Cited by 10 publications

(7 citation statements)

References 9 publications

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“…To deliver improvements in productivity and safety, robotics-based technologies for construction activities 14,15 have been developed for both the assembly of building elements [16][17][18][19][20] and free-form continuous additive manufacturing (AM) [1][2][3][4] . Compared to the assembly-based approaches, free-form continuous AM enables flexible production of geometrically variable designs that can provide improvements in material efficiency and cost reductions.…”

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confidence: 99%

Aerial additive manufacturing with multiple autonomous robots

Zhang

Chermprayong

Xiao

et al. 2022

Nature

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Additive manufacturing methods 1-4 using static and mobile robots are being developed for both on-site construction 5-8 and off-site prefabrication 9, 10 . Here we introduce a new method of additive manufacturing, referred to as Aerial Additive Manufacturing (Aerial-AM), that utilizes a team of aerial robots inspired by natural builders 11 such as wasps who use collective building methods 12, 13 . We present a scalable multi-robot 3D printing and path planning framework that enables robot tasks and population size to be adapted to variations in print geometry throughout a building mission. The multi-robot manufacturing framework allows for autonomous 3D printing under human supervision, real-time assessment of printed geometry and robot behavioural adaptation. To validate autonomous Aerial-AM based on the framework, we develop BuilDrones for depositing materials during flight and ScanDrones for measuring print quality, and integrate a generic real-time model-predictive-control scheme with the Aerial-AM robots. In addition, we integrate a dynamically self-aligning delta manipulator with the BuilDrone to further improve manufacturing accuracy to 5mm for printing geometry with precise trajectory requirements, and develop four cementitious-polymeric composite mixtures suitable for continuous material deposition. We demonstrate proof-of-concept prints including a cylinder of 2.05m with a rapid curing insulation foam material and a cylinder of 0.18m with structural pseudoplastic cementitious material, a light-trail virtual print of a dome-like geometry, and multi-robot simulations.

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confidence: 99%

Aerial additive manufacturing with multiple autonomous robots

Zhang

Chermprayong

Xiao

et al. 2022

Nature

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“…This structure remained on site, in Cambridge, Massachusetts, for 7 months, resisting from fall to winter . 51 The Ephemeral Cathedral of Créteil is a temporary church, built in 2013 and used during the two years renovation of the permanent cathedral, based on a grid shell with 2 km of GFRP that covers a surface of 350 m 2 . It was built by the locals themselves and took only one day to erect it.…”

Section: State Of the Artmentioning

confidence: 99%

“…This structure remained on site, in Cambridge, Massachusetts, for 7 months, resisting from fall to winter . 51…”

Section: State Of the Artmentioning

confidence: 99%

4D structures for the short-time building of emergency shelters

Costa

Carvalho

Alves

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part L:

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The increasing number of internal displaced people due to conflicts or natural disasters over the years represents the need to create structural solutions for first emergency shelter, which are currently supplied in tarpaulin and structures improvised by the locals. Innovative technologies like 4D printing could present an alternative, being possible to develop 3D structures with smart materials that react with environmental stimulus, such as water, light, heat and others. Unlike 3D printing, which is static, the factor ‘time’ adds a dimension to the 4D, making the structures self-assembling, multifunctional or self-repairing. Given this, the aim of this paper is to present research for the application of 4D-printed structures, for crises, to speed up and ease the assembly process, replacing the structures currently used with one that integrates the emergency kit. It also presents a review on emergency shelters, as well as on 3D and 4D printing processes, clarifying its definition and introducing a case study demonstrative of the process, by printing with shape memory filaments, specifically poly lactic acid and shape memory polymers. A concept was developed and validated, evaluating the possibility of applying 4D printing process in the development of structures that are easy to transport and assemble in emergencies, using the beneficial characteristics of shape memory polymer material. Therefore, the simulation of the concept and the improvement of material properties in terms of specific strength and toughness, which can be achieved using composite materials, are indicated as future recommendations. Moreover, the concept must be evaluated from a structural point of view.

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“…Industrial spooling, coiling, reeling and filament winding machines [1-4] are commonly used to store and distribute a variety of materials including thread and fibers, wires, cords and cables, or to make specialized structures. In HCI, researchers explored coiling for embedding electromagnetic coils into 3D prints [19], constructing sculptures [14], or for creating flexible tube-based displays [13]. In contrast, we seek to use spooling for physical prototyping and object augmentation.…”

Section: Related Workmentioning

confidence: 99%

WraPr

Leong

Martı́nez

Perteneder

et al. 2020

Proceedings of the Fourteenth International Conference on Tangible, Embedded, and Embodied Interaction

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We propose a novel fabrication method for 3D objects based on the principle of spooling. By wrapping off-the-shelf materials such as thread, ribbon, tape or wire onto a core structure, new objects can be created and existing objects can be augmented with desired aesthetic and functional qualities. Our system, WraPr, enables gesture-based modelling and controlled thread deposition. We outline and explore the design space for this approach. Various examples are fabricated to demonstrate the possibility to attain a range of physical and functional properties. The simplicity of the proposed method opens the grounds for a lightweight fabrication approach for the generation of new structures and the customization of existing objects using soft materials.

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Design of a multi-agent, fiber composite digital fabrication system

Abstract: Swarm-based fabrication of interwoven composite tubes via a fully autonomous, cooperative system can help create architectural-scale structures in effective and efficient ways, including in remote environments.

Cited by 10 publications

References 9 publications

Aerial additive manufacturing with multiple autonomous robots

Aerial additive manufacturing with multiple autonomous robots

4D structures for the short-time building of emergency shelters

WraPr

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