Adaptive Strategies for Mud Shell Robotic Fabrication

The digital fabrication of monolithic shell structures is presenting some challenges related to the interface between computational design, materialist, and fabrication techniques. This research proposes a singular method for the sequential robotic spray deposition in layers of diverse clay mixes over a temporary fabric form-work pulled in between peripheral and cross section arches. This process relies mainly on the continuity of the construction phases for stability and durability but has encountered some challenges in physical tests related to sagging, displacement, and deformations during the robotic deposition of the material. Adaptive strategies during the digital fabrication stages are proposed for a sequential exploration of the geometry, structural analysis, and construction techniques. Alternative adjustments of protocols for the robotic material deposition include both predictable and unsuspected behaviors preventing the structure to reach non-viable geometric thresholds. Two case studies of physical tests describe, analyze, and simulate some of these strategies and identify specific parameters inquiring the sequential adjustments of the robotic material deposition. These strategies will drive future full-scale tests within a sustainable use of materials and adaptive construction methods, seeking an optimized structural performance that could open a new chapter for the digital fabrication of earthen shells