Informed Robotic 3D Printing 

Continuous Robotic 3D Printing of Porous ceramic Structure


The ceramic robotic printing explores possibilities of production of 3D printed building parts and establishes a production method where all parameters are calibrated for the developed physical set-up. One of the main challenges was to materialize differentiated densities by creating unified topologies that express structural loads consistent to the design approach and robotic fabrication potentialities and constraints. At this stage, various algorithmic form finding and optimization techniques, mostly in the Rhino-Grasshopper platform and Python scripting-language, were applied. This allowed the systematic exploration and evaluation of design alternatives in the design-solution space, eventually providing the required information for production, path generation and kinematics simulation with the ABB-Robotstudio.
Simultaneously, the initial material experiments and information sets informed the design process, design materiality and robotics. This was achieved through step-by-step documentation of a series of purposeful design-to-robotic production experiments with fixed and variable parameters. Specific to this project, the resulting dataset provides information on the possibilities of the developed D2RP system for robotic ceramic 3D printing, such as maximum angle of cantilevering, the maximum length of bridging material without supports, the minimum and the maximum size of the nozzle, material flow, motion speed, etc.

Project Leaders: Sina Mostafavi, Henriette Bier

Research and Development: Sina Mostafavi, Ana Anton, Serban Bodea

Full team: Sina Mostafavi, Ana Anton, Serban Bodea , Henriette Bier, with MSc 3 Students: Berend Raaphorst, Guus Mostart, Hans de Jonge, Jeroen van Lit,, Jan Paclt, Kasper Siderius, Marco Galli, Michal Kornecki, Mohammad Jooshesh Oana Anghelache, Perry Low, Radoslaw Flis, Rob Moors, Rutger Roodt, Ruth Hoogenraad, Stef Hoeijmakers, Steph Kanters, Thijs IJperlaan

Acknowledgements: This project has profited from the contribution of the Robotic Building team and Hyperbody MSc 3 students (Fall semester 2014). The project has been sponsored by 3TU. Bouw Center of Excellence for the Built Environment, Delft Robotic Institute, 100 % Research and ABB Benelux.

Date: 2013-15


More info and links:



Supports and sponsors:

TU Delft, Hyperbody Group, RB Team, 100% Research BK, ABB Benelux, 4TU

Research Papers:
ROB|ARCH 2016 Springer