Deposition dynamics and analysis of polyurethane foam structure boundaries for aerial additive manufacturing

Additive manufacturing in construction typically consists of ground-based platforms. Introducing aerial capabilities offers scope to create or repair structures in dangerous or elevated locations. The Aerial Additive Manufacturing (AAM) project has developed a pioneering approach using Unmanned Aerial Vehicles (UAV, 'drones') to deposit material during self-powered, autonomous, untethered flight. This study investigates high and low-density foams autonomously deposited as structural and insulation materials. Drilling resistance, mechanical, thermal and microscopy tests investigate density variation, interfacial integrity and thermal stability. Autonomous deposition is demonstrated using a flying UAV and robotic arm. Results reveal dense material at interfaces and directionally dependent cell expansion during foaming. Cured interfacial regions are vulnerable to loading parallel to interfaces but resistant to perpendicular loading. Mitigation of trajectory printing errors caused by UAV flight disturbance is demonstrated by a stabilising end effector, with trajectory errors