RMIT Research Assistant  supervised by Roland Snooks
The process devised by a French Company, Soliquid, uses a unique 3D printing technology, instead of depositing material layer by layer on a plan, it prints in a durable and reusable gel matrix using a 5-axis robot arm.  The process is much faster than traditional printing technologies and allows for printing complex parts while minimizing material usage and eliminating the need for print supports as the gel holds the overhung parts in place while extruding. 
In this process, the viscous liquid can support the printing materials. The printed material also has time to cure and can then be taken out of the support bath. The technology is used to print biomedical inks, such as cell-filled hydrogels. They can be micro scale (use microneedle as the nozzle).
Generally, the support gel is usually some viscous material with a shear yield stress. This means that it acts like a “solid” until sufficient shear stress is applied, and then it becomes a “liquid”. This allows the gel to support the extruded material. However, flow and reform around the nozzle as the nozzle moves in the gel.
Precedents
Materials, Gel Viscocity and Tool Tip Expriments
The general device consists of a printing tray that contains a gel matrix and a 6-axis industrial robot, at the end of which is fixed the print head we are developing. This set consisting of the robot and its end-effector is directly controlled on a computer. It’s on the computer that the printing phase is prepared and then initiated: the 3D model of the element to be printed is analyzed, adapted if necessary, then converted into 3D curves corresponding to the future toolpaths of the robot during printing. This path is then broken down into a succession of planes in the XYZ space and associated with certain parameters that define the specifications of the movement and printing processes. 
In parallel, a pump is used to bring the printing material from the storage and mixing tank to the print head. When printing starts, the print head fed by the pump plunges into the printing tank and deposits the printing material following the previously determined toolpath.
Form Experiments_Lattice
Form Experiments_Lattice
Form Experiments_Multi - Agent
Skin Experiments
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