Influence of Robot-assisted 3D-Printing Process Parameters on the Mechanical Properties, Structural Robustness, and Surface Finish of Clay and Sintered Clay
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Abstract
This research investigates optimization of process parameters in robot-assisted threedimensional (3D) printing of clay and sintered clay, focusing on nozzle diameter, print speed, layer height, and clay printability to improve mechanical strength, structural stability, and surface quality for sustainable architectural applications. Three nozzle sizes (3.0, 4.0, and 5.0 mm) were tested with print speeds from 100-500 mm/s and layer heights of LH60-160, while clay composites with controlled water-to-clay ratios were prepared to evaluate their effects on extrusion and structural performance. Results show that a smaller nozzle diameter of 3.0 mm combined with slower print speeds of 150-250 mm/s produced the strongest specimens, achieving compressive strengths up to 8.5 MPa and flexural strengths of 4.2 MPa while also generating smoother surfaces and more uniform layer deposition. Larger nozzles and higher speeds increased defects such as voids and cracks, reducing mechanical reliability. Lower layer heights (LH60) improved interlayer bonding and reduced porosity, whereas higher layers weakened adhesion. Optimal material performance occurred at 23.2% moisture content, balancing workability and structural stability. Excess moisture caused sagging while insufficient moisture increased extrusion resistance and cracking.
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