The Problem
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.
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.
The Results
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.