6-DoF Robotic 3D Printing of Martian Habitat Components: Scaled Fabrication Model-Based Experimental Validation

Creative Commons License

Koca E., TÜRER A.

43rd International Symposium on Automation and Robotics in Construction, ISARC 2026, Singapore, Singapur, 22 - 26 Haziran 2026, ss.658-665, (Tam Metin Bildiri)

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.22260/isarc2026/0085
  • Basıldığı Şehir: Singapore
  • Basıldığı Ülke: Singapur
  • Sayfa Sayıları: ss.658-665
  • Anahtar Kelimeler: 3D printing, 6-DoF robotic arm, Mars, Mars habitation, Marsphere, slab printing
  • Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

This study presents a 3D-printing workflow for Martian habitat components using a six-degree-of-freedom (6-DoF) robotic arm, experimentally validated through scaled fabrication models for future extraterrestrial construction. The printing system was developed at METU ROMER and integrates a custom hot-melt extrusion head with a Python - Robot Operating System (ROS) control interface. Toolpaths are generated using a Microsoft Excel-based coordinate generator that specifies X-YZ positions, wrist orientations, and motion speeds, enabling continuous deposition along complex trajectories. Calibration experiments were conducted to adjust printing parameters and evaluate controllability. Following calibration, demonstrations were performed using the Scaled Fabrication Model (SFM) approach: a 1/30-scale flat unit and a 1/35-scale Marsphere prototype were printed to verify multi-curved surface fabrication and uninterrupted toolpaths. In addition, a 1/30-scale cantilever box cross-section slab was printed to assess the feasibility of horizontal elements without formwork. Numerical analysis in SAP2000 predicted a maximum deflection of 0.4578 mm under dead load, and the printed slab exhibited close agreement with the measured free-end (tip) deflection, with the best-performing case matching the numerical prediction within approximately 1%. Overall, the results indicate that the proposed robotic workflow can fabricate key components relevant to future extraterrestrial construction, contributing an integrated Excel-to-ROS path-generation pipeline, a calibration-driven parameter window for repeatable deposition, and an experimental-numerical SFM validation strategy.