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    <a class="back-link" href="index.html">← Back to landing page</a>
    <div class="subnav"><a href="printing-process.html" class="active">Printing Process</a><a href="trajectory-planning.html">Trajectory Planning</a><a href="trajectory-retiming.html">Trajectory Retiming</a><a href="robot-control.html">Robot Control</a><a href="evaluation.html">Evaluation</a></div>
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        <div class="eyebrow">Chapter overview</div>
        <h1>Printing Process</h1>
        <p class="chapter-lead">
        The printing process is based on a continuous two-component polyurethane (2K PU) foam deposition, where both material components are mixed directly within the nozzle and immediately extruded onto the substrate. The process enables rapid large-scale material deposition but imposes strict constraints on flow continuity, process stability, and robot motion.
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          <li>
            The material is generated by in-nozzle mixing of two reactive components, which are driven by pressurized gas and require a minimum continuous flow to ensure proper mixing and avoid premature curing.
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          <li>
            Due to the reactive nature of the material, any interruption in flow leads to rapid curing within the mixing chamber, resulting in nozzle clogging and requiring manual replacement.
          </li>
          <li>
            The volumetric flow rate exhibits strong nonlinear behavior due to viscosity differences and pressure feedback from the expanding foam, making precise control challenging.
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          <li>
            To ensure consistent strand geometry, a nearly constant tool center point (TCP) velocity is required, directly coupling the material process with the robot motion.
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      <figure class="figure">
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        <figcaption>Two-component foam deposition process with in-nozzle mixing and continuous extrusion.</figcaption>
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        <img src="assets/printing-process/process2.png" alt="Printing Process placeholder 2">
        <figcaption>Nozzle and end-effector design used for continuous material application and controlled strand formation.</figcaption>
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        <img src="assets/printing-process/DSC01183.jpg" alt="Printing Process placeholder 3">
        <figcaption>Resulting foam strand geometry illustrating process sensitivity to flow rate and motion consistency.</figcaption>
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