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The Challenge
Traditional 3D printing is limited by speed and build volume; a single nozzle can only move so fast. We aimed to create a "swarm manufacturing" platform where multiple mobile robots collaborate on a single print job. The challenge was to coordinate these independent agents to print large-scale objects simultaneously without collision or conflict.
A fleet of mobile robots collaborating on a single build volume, illustrating the paradigm of distributed manufacturing.
The Engineering
I architected the platform and led the engineering efforts, designing the circuit boards, mechanical components, and firmware (C++ and Python). The system uses a "chunking" algorithm to break CAD models into tasks assigned to individual SCARA-arm robots. A central scheduler manages dependencies, while a separate "Transporter" robot, navigating via IR sensors and floor codes, moves printers to new coordinates, supplying power and data connection during transit.
Visualization of the "chunking" algorithm, which partitions CAD models into parallel tasks.
The Impact
We successfully built a functional swarm platform that reduced print time by 50%, saving roughly 17 hours on large prints. The technology secured $2 million in funding, including a National Science Foundation grant, and led to two patents and two published papers.
Two robots simultaneously printing on a shared 900x300mm surface.
A test demonstrating the Transporter robot relocating a printer during an active job.
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