{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,3]],"date-time":"2026-04-03T07:04:01Z","timestamp":1775199841284,"version":"3.50.1"},"reference-count":32,"publisher":"Association for Computing Machinery (ACM)","issue":"6","license":[{"start":{"date-parts":[[2016,11,11]],"date-time":"2016-11-11T00:00:00Z","timestamp":1478822400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100002855","name":"Ministry of Science and Technology of the People's Republic of China","doi-asserted-by":"publisher","award":["2016YFC0800501"],"award-info":[{"award-number":["2016YFC0800501"]}],"id":[{"id":"10.13039\/501100002855","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61672481, 61672482, 61303148, 11526212"],"award-info":[{"award-number":["61672481, 61672482, 61303148, 11526212"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Graph."],"published-print":{"date-parts":[[2016,11,11]]},"abstract":"<jats:p>Frame shapes, which are made of struts, have been widely used in many fields, such as art, sculpture, architecture, and geometric modeling, etc. An interest in robotic fabrication of frame shapes via spatial thermoplastic extrusion has been increasingly growing in recent years. In this paper, we present a novel algorithm to generate a feasible fabrication sequence for general frame shapes. To solve this non-trivial combinatorial problem, we develop a divide-and-conquer strategy that first decomposes the input frame shape into stable layers via a constrained sparse optimization model. Then we search a feasible sequence for each layer via a local optimization method together with a backtracking strategy. The generated sequence guarantees that the already-printed part is in a stable equilibrium state at all stages of fabrication, and that the 3D printing extrusion head does not collide with the printed part during the fabrication. Our algorithm has been validated by a built prototype robotic fabrication system made by a 6-axis KUKA robotic arm with a customized extrusion head. Experimental results demonstrate the feasibility and applicability of our algorithm.<\/jats:p>","DOI":"10.1145\/2980179.2982401","type":"journal-article","created":{"date-parts":[[2016,11,11]],"date-time":"2016-11-11T17:02:54Z","timestamp":1478883774000},"page":"1-11","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":65,"title":["FrameFab"],"prefix":"10.1145","volume":"35","author":[{"given":"Yijiang","family":"Huang","sequence":"first","affiliation":[{"name":"University of Science and Technology of China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juyong","family":"Zhang","sequence":"additional","affiliation":[{"name":"University of Science and Technology of China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Hu","sequence":"additional","affiliation":[{"name":"University of Science and Technology of China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guoxian","family":"Song","sequence":"additional","affiliation":[{"name":"University of Science and Technology of China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhongyuan","family":"Liu","sequence":"additional","affiliation":[{"name":"Luxun Academy of Fine Arts"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lei","family":"Yu","sequence":"additional","affiliation":[{"name":"Tsinghua University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ligang","family":"Liu","sequence":"additional","affiliation":[{"name":"University of Science and Technology of China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2016,12,5]]},"reference":[{"key":"e_1_2_2_1_1","unstructured":"3Doodler 2013. 3Doodler pen. http:\/\/the3doodler.com.  3Doodler 2013. 3Doodler pen. http:\/\/the3doodler.com."},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/2807442.2807505"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1145\/882262.882352"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1561\/2200000016"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.969114"},{"key":"e_1_2_2_6_1","unstructured":"Branch 2015. Branch technology. http:\/\/www.branch.technology.  Branch 2015. Branch technology. http:\/\/www.branch.technology."},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/2661229.2661266"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1145\/2601097.2601153"},{"key":"e_1_2_2_9_1","volume-title":"Stereotomy: Stone Architecture and New Research. Presses des Ponts.","author":"Fallacara G.","year":"2012","unstructured":"Fallacara , G. , and D'Amato , C. 2012 . Stereotomy: Stone Architecture and New Research. Presses des Ponts. Fallacara, G., and D'Amato, C. 2012. Stereotomy: Stone Architecture and New Research. Presses des Ponts."},{"key":"e_1_2_2_10_1","volume-title":"The Robotic touch: How robots change architecture","author":"Gramazio F.","year":"2014","unstructured":"Gramazio , F. 2014. The Robotic touch: How robots change architecture . Park Books 2014 . Gramazio, F. 2014. The Robotic touch: How robots change architecture. Park Books 2014."},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1002\/ad.1753"},{"key":"e_1_2_2_12_1","doi-asserted-by":"crossref","unstructured":"Helm V. Willmann J. Thoma A. Pi\u0161korec L. Hack N. Gramazio F. and Kohler M. 2015. Iridescence print: Robotically printed lightweight mesh structures. 3D Printing and Additive Manufacturing 2 3 117--122.  Helm V. Willmann J. Thoma A. Pi\u0161korec L. Hack N. Gramazio F. and Kohler M. 2015. Iridescence print: Robotically printed lightweight mesh structures. 3D Printing and Additive Manufacturing 2 3 117--122.","DOI":"10.1089\/3dp.2015.0018"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1111\/j.1467-8659.2012.03037.x"},{"key":"e_1_2_2_14_1","volume-title":"The Finite Element Method: Linear Static and Dynamic Finite Element Analysis","author":"Hughes T. J. R.","unstructured":"Hughes , T. J. R. 1987. The Finite Element Method: Linear Static and Dynamic Finite Element Analysis . Prentice-Hall . Hughes, T. J. R. 1987. The Finite Element Method: Linear Static and Dynamic Finite Element Analysis. Prentice-Hall."},{"key":"e_1_2_2_15_1","unstructured":"Kassimali A. 2011. Matrix Analysis of Structures SI Version. Cengage Learning.  Kassimali A. 2011. Matrix Analysis of Structures SI Version. Cengage Learning."},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2004.1262177"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1137\/110840364"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/1618452.1618503"},{"key":"e_1_2_2_19_1","unstructured":"Mataerial 2015. Mataerial. website. http:\/\/www.mataerial.com.  Mataerial 2015. Mataerial. website. http:\/\/www.mataerial.com."},{"key":"e_1_2_2_20_1","unstructured":"Mosek A. 2015. The mosek optimization software. Online at http:\/\/www.mosek.com.  Mosek A. 2015. The mosek optimization software. Online at http:\/\/www.mosek.com."},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/2642918.2647359"},{"key":"e_1_2_2_22_1","doi-asserted-by":"crossref","unstructured":"Oxman N. Laucks J. Kayser M. Tsai E. and Firstenberg M. 2013. Freeform 3D printing: Towards a sustainable approach to additive manufacturing. Green Design Materials and Manufacturing Processes 479.  Oxman N. Laucks J. Kayser M. Tsai E. and Firstenberg M. 2013. Freeform 3D printing: Towards a sustainable approach to additive manufacturing. Green Design Materials and Manufacturing Processes 479.","DOI":"10.1201\/b15002-93"},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1145\/2766937"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1145\/2858036.2858106"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1111\/cgf.12051"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1145\/2366145.2366147"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/2185520.2185544"},{"key":"e_1_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1145\/2508363.2508382"},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1260\/026635109788251412"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/2897824.2925966"},{"key":"e_1_2_2_31_1","doi-asserted-by":"crossref","unstructured":"Yu L. Huang Y. Liu Z. Xiao S. Liu L. Song G. and Wang Y. 2016. Highly informed robotic 3d printed polygon mesh - a novel strategy of 3D spatial printing. In The Association for Computer Aided Design in Architecture (ACADIA).  Yu L. Huang Y. Liu Z. Xiao S. Liu L. Song G. and Wang Y. 2016. Highly informed robotic 3d printed polygon mesh - a novel strategy of 3D spatial printing. In The Association for Computer Aided Design in Architecture (ACADIA).","DOI":"10.52842\/conf.acadia.2016.298"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2461967"}],"container-title":["ACM Transactions on Graphics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2980179.2982401","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/2980179.2982401","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T03:49:57Z","timestamp":1750218597000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/2980179.2982401"}},"subtitle":["robotic fabrication of frame shapes"],"short-title":[],"issued":{"date-parts":[[2016,11,11]]},"references-count":32,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2016,11,11]]}},"alternative-id":["10.1145\/2980179.2982401"],"URL":"https:\/\/doi.org\/10.1145\/2980179.2982401","relation":{},"ISSN":["0730-0301","1557-7368"],"issn-type":[{"value":"0730-0301","type":"print"},{"value":"1557-7368","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,11,11]]},"assertion":[{"value":"2016-12-05","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}