Abstract

We present an ongoing research project focused on the development of more efficient setups for cooperative multi-robot systems in 3D-printed construction. Early kinematic simulations of a mobile robotic cell prototype with two ceiling-mounted orbiting manipulators have provided new insights into 3D printing topology. An extrusion nozzle is mounted on each collaborative robot whose primary function is to match the extrusion path to the print contour while they move along a circular path. The challenge of setting up on site a semi-structured environment for cooperative multi-robot 3D printing led us to think up a new species of construction 3D printer.