Metamodels for Rapid Analysis of Large Sets of Building Designs for Robotic Constructability: Technology Demonstration Using the NASA 3D Printed Mars Habitat Challenge

Disruptive robotic construction technologies such as additive deposition of cementitious materials like concrete (or "3D concrete printing") require the synchronous operation of multiple pieces of equipment in the production setup. In such an environment, it is crucial to simulate the robotic motions (for toolpath clashes) and the cementitious material behavior (for toolpath failures) to ensure fail-proof constructability of the envisioned building geometry. However, toolpath clash detection requires 4D simulations of the production setup, which are computationally graphics intensive, whereas toolpath failure detection requires actual 3D printing of test parts from the geometry to identify areas prone to failure while 3D printing, which is physically tedious. Both these processes, being computationally and physically intensive, have largely curtailed designers from simulating and exploring large sets of design options with varying geometries and toolpath configurations. To overcome this and allow designers to explore large sets of design possibilities, this paper proposes two novel computational metamodels capable of performing robotic toolpath clash detection and failure detection with significantly reduced times than the earlier approaches. The developed metamodels were used to rapidly simulate large sets of building design options for robotic constructability in the NASA 3D-Printed Mars Habitat Challenge.