RoMA: Interactive Fabrication with Augmented Reality and a Robotic 3D Printer

we introduce RoMA the robotic modeling assistant a system that allows users to design 3d digital models in Augmented Reality while a robotic 3d printer fabricates the design at the same time, in the same space With RoMA, users can integrate physical constraints early in the design process place physical references on top of partial prints to support further designs and design and print directly onto existing objects RoMA’s hardware consists of three
components the user’s Augmented Reality headset with accompanying controllers the shared rotating platform and the robotic 3d printer the user designed 3D
primitives and Augmented Reality at the front half of the platform meanwhile the robotic 3d printer built a wireframe representation of the design at the back RoMA features a proxemics handshake
mechanism if the user touches the platform the robotic arm retreats and
parts away from the print if the user leaves the printing area the robot takes control of the platform to finish the print we now demonstrate RoMA’s
interactions by designing a teapot from scratch using the width of his hand as a
design reference the user creates a teapot body in augmented reality he then refines the shape of the teapot body with spline control points after confirmation, the robot begins printing the wireframe structure of the model the Augmented Reality rendering matches the printed wireframe closely following our
proxemic mechanism printing occurs only at the back of the platform in RoMA the
designer and robot works simultaneously as the robot prints at the back half of
the platform the user can design the spouts at the front before committing this spout to print the user refines his design with spline control points now the designer wants to
create a teapot handle opposite the spout the designer touches the printing
platform to rotate the teapot the robot retreats and parks automatically the designer freely rotates the platform once the designer releases the platform
the robot will resume printing at the back to design the handle the user first
chooses a cross-section based on the width of his finger the designer wants the handle to fit
snugly around his finger so he rests his finger against the partially printed teapot and builds a handled directly around his finger for a precise fit the designer checks to make sure that he
is satisfied with his design and then steps away from the printer sensing that the designer has left the
robot takes full control of the platform the robot can now rotate the platform at will to finish printing the entire teapot stray strands from the motion of
the robot are easily trimmed away for a polished result RoMA makes it easy to
design functional extensions onto existing objects in this example the
designer builds a stand for a model fighter jet the designer clamps a
fighter jet model onto the platform and quickly scans the fuselage with the AR
controller now the designer can design directly on to the fighter jet model RoMA is accurate enough to print onto
the existing physical object With printing complete the stand is
ready for immediate evaluation

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