Mobile robots for 3D printing applications are ready to transition from factory floors to building sites. Their remarkable flexibility and adaptability support a variety of deposition-based 3D printing technologies that utilise materials ranging from concrete and earth for extrusion, spraying, or shotcreting to metals for processes like Wire Arc Additive Manufacturing. Not confined to new constructions alone, their mobility enables utilisation in corrective building maintenance, restoration, revitalisation, and repair. Their ability to cooperate with one another allows for deployment in multi-robot settings, offering scalability in speed by their number. Despite their promising potential, mobile 3D printing robots also encounter numerous technological challenges. These include ensuring the mechanical properties of printed structures meet required building codes, designing robust mechanical systems for large-scale construction projects, and integrating these systems seamlessly with existing architectural planning tools. Moreover, enhancing the precision and robustness of these robots through advanced sensing and control technologies is critical for their effective application in building manufacturing. With this paper, we detail selected current research trajectories and give insights into current challenges, open questions, and key prospects associated with mobile 3D printing robots for on-site construction within existing environments. To enrich the discussion, insights into potential architectural application scenarios for revitalising, repairing, and strengthening building structures are provided. The complex, interdisciplinary nature of these challenges underscores the need for a collaborative approach in advancing the field of mobile 3D printing technology.

中文翻译：

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在现有环境中推进建筑：使用移动机器人进行 3D 打印用于建筑维护和维修的前景和障碍


用于 3D 打印应用的移动机器人已准备好从工厂车间过渡到建筑工地。它们卓越的灵活性和适应性支持各种基于沉积的 3D 打印技术，这些技术利用的材料从用于挤压、喷涂或喷射的混凝土和泥土到用于电弧增材制造等工艺的金属。它们不仅限于新建筑，它们的移动性还可以用于纠正性建筑维护、恢复、振兴和维修。它们相互合作的能力允许在多机器人设置中部署，从而根据它们的数量提供速度可扩展性。尽管移动 3D 打印机器人的潜力巨大，但它们也面临着许多技术挑战。其中包括确保打印结构的机械性能符合所需的建筑规范，为大型建筑项目设计坚固的机械系统，以及将这些系统与现有的建筑规划工具无缝集成。此外，通过先进的传感和控制技术提高这些机器人的精度和稳健性对于它们在建筑制造中的有效应用至关重要。通过本文，我们详细介绍了选定的当前研究轨迹，并深入了解了与移动 3D 打印机器人相关的当前挑战、开放问题和关键前景，用于在现有环境中进行现场施工。为了丰富讨论，本文提供了对振兴、修复和加强建筑结构的潜在建筑应用场景的见解。这些挑战的复杂性、跨学科性质凸显了在推进移动 3D 打印技术领域时采取协作方法的必要性。