In place detailing: Combining 3D printing and robotic assembly

Abstract

This research presents a novel construction method that links robotic assembly and in place 3D printing. Rather than producing custom joints in a separate prefabrication process, our approach enables the creation of highly customized connection details that are 3D printed directly onto off-the-shelf building members during their assembly process. Challenging the current fashion of highly predetermined joints in digital construction, detailing in place offers an adaptive fabrication method, enabling the expressive tailoring of connection details while addressing its specific architectural conditions. In the present research, the in place detailing strategy is explored through robotic wire arc additive manufacturing (WAAM), a metal 3D printing technique based on MIG welding. The robotic WAAM process coupled with localization and path-planning strategies allows a local control of the detail geometry, enabling the fabrication of customized welded connections that can compensate material and construction tolerances. The paper outlines the potential of 3D printing in place details, describes methods and techniques to realize them, and shows experimental results that validate the approach.