Towards a multi robotic construction system

Page 76

3.3 Primary Deposition Strategy

Fig. 1

3.3.1 Massive Extrusion

Transition from a linear extruded element to a massive extrusion.

ne of the most significant bio-climatic properties of earthen architecture, the ability to delay the transfer of heat into the interior, is mainly due to the massive nature of its walls. Clay extrusion can range in diameter from a few millimeters for small object which require a high printing resolution up to several centimeters for industrial purposes, for which large amounts of energy are necessary to power the enormous extruders. Considering clay extrusion in the context of this project, in which medium sized rovers must be able to carry and power an extruder, the diameter of the extrusion is limited to a range of around five to ten centimeters. In order to build structures at an architectural scale that are able to provide comfortable spaces in climates with extreme daily temperature fluctuations, it is necessary to think of a deposition strategy which allows for the design of architectural elements with varying thicknesses. As already mentioned in chapter 1.4, the optimal thickness of clay walls to ensure a reduction of temperature fluctuations is said to be millimeters according to a study on the bioclimatic performance of unfired clay bricks in construction.

d

d

extrusion length per container = container volume ยน (d/2)^2

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Research Development

Wall Thickness

d = extrusion diameter


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