"Minibuilders". Small robots printing large scale structures

Seven months of research has dedicated the Institute for Advanced Architecture of Catalonia (IAAC) for the development of this project, specifically the researchers Shihui Jin, Stuart Maggs, Dori Sadan and Cristina Nan, and led by professors at the IAAC Saša Jokić and Petr Novikov.

The goal was to develop a family of small robots, each of them with a specific task in the construction process but that work together in the development of an specific structure.

PROCESS:

Footprint.-
One or more Foundation Robots make the footprint: first 20 layers of the structure. They can move according to a predifined path continuously or back and forth. Small robots are connected with pipes to the supplier robot, that feeds the printing material.

Walls.-
After the base is done, Grip Robots are clamped onto the footprint. They extend the structure further by printing layers of material meanwhile holding onto layers they previously printed.
Their nozzle can shift from side to side allowing to create curved walls.

Ceilings.-
The grip of these robots is enough strong and the curing speed of the material is enough fast to use them for horizontal printing. These robots can print ceilings and window/door lintels.

Reinforcement.-
To reinforce the shell vacuum robots attach onto it and print additional layers over it. These layers don’t have to be parallel to each-other, they can be free-form and be applied only where structure requires them. Vacuum Robots can travel over surfaces of any inclination.

Foundation Robot.-
This robot uses tracks to move around, and a line-follower sensor to position itself. This sensor in the front part of the robot recognizes curves on the ground and enables steering. Foundation Robot has a vertical linear actuator to position the nozzle relative to the height of printed layer.

Grip Robot.-
This robot attaches to the structure by clamping it between 4 rollers. Besides rotational actuator, each roller is connected to a steering actuator that allows to position the robot precisely over the structure. The nozzle can dynamically be moved sideways to have higher control over the printed shape.
Heaters are used to increase the speed of material curing time.

Vacuum Robot.-
This robot is used to reinforce the shell printed by first two robots. It attaches onto the surface by using a vacuum generator and a suction cup. Vacuum inside of the cup holds the robot on the surface, while allowing it to freely move around it. The robot moves and steers itself with two tracks.