Optimal machine operation planning for construction by Contour Crafting

Contour Crafting is an emerging technology that uses robotics to construct free form building structures by repeatedly laying down layers of material such as concrete. The Contour Crafting technology scales up automated additive fabrication from building small industrial parts to constructing buildings. Optimal machine operation planning for Contour Crafting benefits the technology by increasing the efficiency of construction, especially for complicated structures. The research reported here has aimed at providing a systematic solution for improving the overall Contour Crafting system efficiency in building custom-designed buildings. An approach is first presented to find the optimal machine operation plan for the single nozzle Contour Crafting system. Other approaches are then presented to determine collision-free operation plans for machines with multiple nozzles. The models developed incorporate physical constraints as well as some practical construction issues.