PROGRAM OPTIMIZATION

When printing each Voronoi diagram, there are five points of the robotic arm to run. The first point coincides with the fifth point. The robot arm recognizes the point-to-point path. We turn on the air pump at the 0th point. At the 4th point, the air pump is turned off and the clay extrusion is stopped, and then the fifth point is returned. This is to prevent the clay extrusion from accumulating at 0 th point, so stop the mud at 5 mm from the fifth point.

After printing one layer of a single unit, the mechanical head is lifted 2 cm and then lowered to the specified point to print another layer of monomer.

The optimized route is mainly "Z" shaped route, which reduces the initial layer step to 42 steps and greatly shortens the printing time.

Mechhanical Arm Operation

Problems encountered:

1. The progress of clay printing cannot be known.

2. The amount of clay in the metal tube cannot be followed up, and it is easy to run out of clay in the printing process. In order to prevent the use of clay in the printing process, a multi-tube connection is realized by a tee.

Thinking About Robotic Arm

Through the design of this scheme, we clearly realized that the robot arm will play an important role in the future building construction environment, and can effectively assist people in customizing the corresponding personalized building design and customization, and contribute to the development of human civilization.