In this paper, Development and PID control of Architectural 3D Printing Simulator's Nozzle system are discussed. To develop Architectural 3D Printer, simulator uses silicon that has similar viscosity to concrete and it is made smaller size than real machines. Since main goal of this simulator is development of nozzle injection and stacking, we use commercial 3-axis gantry robot for x-y-z movement and develop our own nozzle system for injection. Nozzle system consist of D5P, motor and some mechanical elements. To test simulator, nozzle sprays silicon with constant speed using PID controller. But performance of PID controller is not good. In the future, we improve control performance by using robust controller.
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