HAZEL OZRENK|SULTAN ALMUTAIRI|PAVLOS SYMIANAKIS|HAMZE MACHMOUCHI
WORKSHOP I | CLAY PRINTING
Contents Clay Ingredients
6
End Effector B01 Design
8
End Effector B02 Design+ Manual Prints
10
End Effector B02 + Nachi Prints
12
End Effector B03 + Kuka Prints
18
Topology Iterations
20
Column Design
27
Joint Mechanism
30
Printing Catalogue
Clay Mix Ingredients Too Wet 1000 g 100 ml None
Manual + End effector B01 Mixture 1 Nylon Reinforced Air-Dry Clay / New Clay Water Sodium Dispex
Dry Too Fast 1000 g 60 ml 5 Drops
Manual + End effector B02 Mixture 1 Nylon Reinforced Air-Dry Clay / New Clay Water Sodium Dispex
Good Result 1000 g 100 ml 5 Drops
Mixture 3 Nylon Reinforced Air-Dry Clay / New Clay Water Sodium Dispex
Better Result 1000 g 100 ml 10 Drops
Mixture 3 Nylon Reinforced Air-Dry Clay / New Clay Water Sodium Dispex
Good | Wet 2000 g 200 ml 20 Drops
Natchi + End effector B02 Mixture 1 Nylon Reinforced Air-Dry Clay / New Clay Water Sodium Dispex
Best | Balanced 3000 g 300 ml 15 Drops
Mixture 2 Nylon Reinforced Air-Dry Clay / New Clay Water Sodium Dispex
Too Wet 2000 g 200 ml 20 Drops
Kuka + End effector B03 Mixture 1 Nylon Reinforced Air-Dry Clay / New Clay Water Sodium Dispex
Best | Balanced 3000 g 300 ml 15 Drops
Mixture 2 Nylon Reinforced Air-Dry Clay / New Clay Water Sodium Dispex
End Effector Design Over the course of the workshop we have developed both a manual and semi-mechanical method for additive clay printing. Using the manual end effector revealed dificulties with the line accuracy and pressure consistency. Our end effectors for the robot arms are pressurized in order to provide a consistent extrusion during the execution of our generated toolpaths. Based on the clay mixtures that were tested, we were able to develop a series of prints that can stack on top of each other in order to achieve height
Figure pneumatic end effector B02
25mm
290mm
HANDLE
ROD
32mm
CAP
24mm
PISTON
330mm
TUBE
33mm
78mm
1st Print with End Effector B01
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2nd Print with End Effector B01
SCREW
NOZZLE
End Effector B01
1st Print with Manual End Effector B02
2nd Print with Manual End Effector B02
3rd Print with Manual End Effector B02
4th Print with Manual End Effector B02
End Effector B02
7 || TEAM YNI
Pattern Experimentation
Emerging Topology
5th Print with Manual End Effector B02
6th Print with Manual End Effector B02
8 || TEAM YNI
7th Print with Manual End Effector B02
Branching
7th Print with Manual End Effector B02
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Nozzle
PVC Coupler
PVC Reducer
PVC Coupler
Metal Rod
Acrylic Pipe
PVC Coupler
MDF Lazer Printed Connector
MDF Lazer Printed Housing PVC Reducer
Brass Reducer
MDF Lazer Printed Housing
Valve PVC Adapter Nozzle
Nachi + End Effector B02
11 || TEAM YNI
Gradient, Geometry & Branching Experiments When we transitioned from Manual to Robotic extrusions, we had the desire to create intricate shapes. Our first insinct was to investigate bifurcation. After multiple failures due to pressure control, we decided to make height our priority. In order to achieve height, we decided to extrude first simple geometries
12 || TEAM YNI
1st Print with Nachi End Effector B02 Material Testing |Gradient
2nd Print with Nachi End Effector B02 Material Testing | Angle
3rd Print with Nachi End Effector B02 Air Pressure Testing | Bifurcation
4th Print with Nachi End Effector B02 Material Testing | Gradient + Pattern
Taller + Wider Prints with Nachi Our test of simple geometries revealed to be successful up to a certain height and width. We then decided to opt for more culvinear form to add structural capailities to our objects
5th Print with Nachi End Effector B02 Geometry Testing | FRep Method
6th Print with Nachi End Effector B02 Geometry Testing | Tall Geometry
13 || TEAM YNI
Complex Geometry Prints with Nachi
7th Print with Nachi End Effector B02 Geometry Testing | Tall Geometry
14 || TEAM YNI
8th Print with Nachi End Effector B02 Geometry Testing | Complex Geometry
9th Print with Nachi End Effector B02 Geometry Testing | Complex Geometry
Joint Testing | Assembly of Two Model
15 || TEAM YNI
16 || TEAM YNI
Nozzle
PVC Coupler
Acrylic Pipe
PVC Coupler
PVC Reducer
PVC Adaptor Nozzle
Kuka + End Effector B03
17 || TEAM YNI
Prints with Kuka
7th Print with Nachi End Effector B02 Geometry Test | Structurally weak Design
18 || TEAM YNI
8th Print with Nachi End Effector B02 Geometry Test | Overheated and shrank
19 || TEAM YNI
Topology Iterations
20 || TEAM YNI
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Topology Iterations | FRep
1st Form Generation with FRep Method From Generation | Conservative Approach
22 || TEAM YNI
2nd Form Generation with FRep Method From Generation | Simple Footprint
3rd Form Generation with FRep Method From Generation | Increasing control points to generate more complex geometries
4th Form Generation with FRep Method From Generation | In order to print tall column we increased the inner folds
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Final Column Model | FRep
24 || TEAM YNI
Column Design 25 || TEAM YNI
Final Geometry Plan
26 || TEAM YNI
Horizontal Iso Curves
Part A Bottom Iso Curve
Part C Top / Part D Bottom Iso Curve
Part A Top / Part B Bottom Iso Curve
Part D Top / Part E Bottom Iso Curve
Part B Top / Part C Bottom Iso Curve
Part E Top Iso Curve
27 || TEAM YNI
Joint Mechanism
Part E
Acrylic Ring Joint Bolts
Part D
Acrylic Ring Joint Bolts
Part C
Acrylic Ring Joint Bolts
Part B
Acrylic Ring Joint Bolts
Part A
28 || TEAM YNI
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Printing Catalog
Part A
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Part B
Part C
Part D
31 || TEAM YNI
Model Assembly
32 || TEAM YNI
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34 || TEAM YNI
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