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About this Abstract
Meeting 2026 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2026)
Symposium 2026 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2026)
Presentation Title Robotic Reactive Extrusion AM for Large Scale Complex Geometry
Author(s) Corrie Van Sice, Devin Young, Yuliang Feng, Yunlan Zhang
On-Site Speaker (Planned) Corrie Van Sice
Abstract Scope Coastal infrastructure can benefit from large-scale architected geometries—such as triply periodic minimal surface (TPMS) lattices—which reduce wave forces and may enhance erosion resistance. Additive manufacturing (AM) is the de facto method for producing TPMS structures due to their geometric complexity, and robotic platforms enable significant kinematic and workspace flexibility for fabrication at architectural scale. Reactive extrusion AM (REAM) offers high deposition rates but has been limited to material characterization with minimal application to large or complex geometries. This work presents a ROS2-based robotic REAM platform for fabricating decimeter-scale (50 cm3) TPMS structures using a Yaskawa industrial manipulator. Closed-chain affordance planning is applied for the first time to AM, enabling real-time trajectory generation with minimal joint motion for future feedback-enabled planning and control. A software scheduler coordinates extrusion and robot motion execution. Gyroid unit cells are successfully fabricated, demonstrating the first application of robotic REAM to functionally-driven infrastructure.
Proceedings Inclusion? Undecided

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