Publications / 2022 Proceedings of the 39th ISARC, Bogotá, Colombia

Mud Dauber: Prototype of the Mobile Gantry Architecture

Peter Staritz, Josiah McClurg, Caleb Miller, Moriah Schlenker and Shane Wozniak
Pages 495-499 (2022 Proceedings of the 39th ISARC, Bogotá, Colombia, ISBN 978-952-69524-2-0, ISSN 2413-5844)

The Mobile Gantry is a robot architecture in which a rail-less gantry rolls directly on the unprepared planetary surface. Mud Dauber is a prototype of this architecture developed to enable testing of the concept and understand the capabilities and limitations of the architecture. This paper describes the major subsystems developed and tested in Mud Dauber: coarse positioning, fine positioning, localization, print head and control.

Keywords: 3D Printing; Sulfur Concrete; Mobile Gantry; Robot Architecture; Mars