Robotic Immaterial Fabrication

Abstract

In this work a KUKA KR5 sixx R850 robotic arm was transformed into a novel multi-fabrication platform capable of additive, subtractive, formative, and imma- terial fabrication processes. We define im- material fabrication as a novel class of fabri- cation category where material properties are manipulated without direct mechanical forces to create design environments and objects. Design studies discussed in this pa- per include real-time light renders generated by dynamic control of light sources and an- nealed patterns created by manipulating heat fields. The paper focuses on the imma- terial sensing and fabrication processes de- veloped, including volumetric scanning mea- surements of optical, thermal, magnetic, and electromagnetic fields and methods of spatial data output. In addition, the concept of informed fabrication utilizing robotically- controlled environmental sensing to influ- ence and inform fabrication is discussed, ex- plored, and demonstrated.