Assembly & Mobility

Transported in a 10-meter trailer, the robot is assembled on-site with factory-built modular components for quick deployment.

Cartesian 3-Axis System

Operates with precision across X, Y, and Z axes for accurate material layering with minimal deviation.

Material System

Uses locally sourced soil with eco-friendly additives and recycled elements for sustainable construction.

Toolpath Optimization

AI-adjusted printing paths with wavy slicing for improved structural strength and thermal performance.

Motor Configuration

• 9x Sanyo Servo Motors
• 2x Leadshine Motors
• 1x NEMA 34 Stepper
• 4x Drive Motors

Automation & Control

Real-time quality monitoring with CCTV and smart sensors for minimal human intervention.

Human Collaboration

30% human involvement in logistics, setup, soil leveling, and final finishes.

Cost Estimation

6.8 billion IRR (~$170,000 USD) including all components and control systems.

Bio-Inspired Strategy

The architectural form draws inspiration from cacti—plants uniquely adapted to survive extreme heat and dryness.

Vertical Geometry Logic

Instead of traditional horizontal slicing, the form uses vertically curved geometries with sinusoidal patterns.

Parametric Design Algorithm

Custom Grasshopper algorithm with 3 input variables:

• Bottom radius of the unit
• Number of vertical folds
• Depth of folds

Daylight & Comfort Analysis

Performance metrics:

• sDA: Spatial Daylight Autonomy
• ASE: Annual Sunlight Exposure
• DGP: Discomfort Glare Prediction

Generation Process

1. Surface grid from geometry
2. Physics manipulation
3. Sine wave profiles
4. Layer transitions
5. Printable boundaries

Physics Integration

Dynamic point repulsion creates adaptive sine waves.

Output Formats

• NURBS curves for toolpath loops
• CNC-ready G-code
• Preview visualizations

Project Timeline

95 residential units (9,258 m²) at 80 m² per 20 hours:

• 🕒
  Total Print Time: 2,314 hours (97 days continuous)

Cost Estimation

Total investment: 6.8B IRR (~$170K)

• ⚙️ Motors & mechanical systems
• 🛠️ Structural components
• 🧩 Assembly parts
• 📹 Monitoring systems
• 🚛 Transport equipment

Human-Robot Collaboration

Local Materials

Primary use of on-site soil minimizes transport emissions. Water and additives are delivered in optimized batches.

Passive Design

Cactus-inspired morphology with self-shading geometries and natural ventilation pathways reduces cooling demands.

Native Landscaping

Tamarix Aphylla and Seidlitzia Rosmarinus serve as natural windbreaks with minimal water requirements.

Water Management

Rainwater harvesting, permeable surfaces, and strategic excavation create water-efficient microclimates.

Thermal Comfort

UTCI analysis confirms year-round comfort through semi-open zones that balance shade and heat retention.

Renewable Energy

Hybrid system combining solar panels, vertical wind turbines, and solar-integrated façades for off-grid operation.

Contextual Response

Located in the central desert of Iran, the site is exposed to intense solar radiation and seasonal winds. Natural hills to the north and west serve as protective barriers, while artificial elements shield the remaining edges.

Native Plant Strategy

Uses two indigenous species:

• Tamarix Aphylla (10-15m windbreaker trees)
• Seidlitzia Rosmarinus (2m shrubs)

Planted along southern/eastern edges as natural shields requiring minimal water.

Windbreak & Shading

Plant rows and built walls reduce wind intensity and create shaded pockets. Modular units arranged to cast mutual shadows during hottest hours.

Microclimate Engineering

Strategic excavation reduces ground radiation from 2500 to 1500 kWh/m². Sunken areas provide cooler gathering zones and improve thermal comfort.

Semi-Domes

Expand shaded areas and create transitional zones between indoors/outdoors. Reduce direct radiation on main domes while providing comfortable gathering spaces.

Spatial Organization

• 🌿 Shaded gathering areas
• 🚪 Wind-shielded entrances
• 🔁 Circular service zoning