The Claystruder project is part of the digifabTuring research, that are a research cluster focused about digital fabrication + robotic automation and material research applied in the field of architecture, interaction design and art. digifabTuring rises from a collaboration between several partners: Fablab Torino, Officine Arduino, Co-de-iT with COMAU and Toolbox Coworking.
We have developed an hybrid extruder system to print clay and other dough, that we use with a COMAU NJ60 anthropomorphic arm. The pneumatic system move the clay to the screw conveyor to print the material.
We have developed a Grasshopper definition to, that allow the user to generate the printing toolpath in a simple way. The definition was created to:
- transform toolpath curves into data to control a 6 axis robot movements
- convert the data to COMAU robot programming language PDL2
- do a raw preliminary check of possible collisions between the robot and surrounding objects (basically the work area plane)
- control a clay extruder and simulate its material extrusion path and deposition
A project of digifabTuring Developed by:
In the definition we are using the Lobster reloaded component to calculate the Inverse Kinematics, the component was written by Daniel Piker.