NASA Challenge: Human Rated Spacecraft 3D Printing Process

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I consulted the video: https://www.youtube.com/watch?v=XgPJdpGV8mE indicated in the information provided by Angel Alvarez, to evaluate the fluidity of the ablative material deposited with a 3D printing technique.I have therefore seen the deposition of this material is optimal on horizontal surfaces, but it could slip on curved surfaces such as the toroidal zone of the heat shield, that goes from almost horizontal to almost vertical.I have therefore thought of a gantry holding up the heat shield and can have an inclination of about 90 degrees to arrange the toroidal part in favor of gravity for the deposition of the ablative material.The platform allows a combination of multiple movements:A rotation movement of 360 degrees and an inclination of 90 degrees.The drive motors are of the self-braking type subjected to an inverter and operate over double-stage worm gear reducers that allow a reduction ratio up to 1: 10000.A six-axis robot coordinates the extruder's movements.the whole stand is mounted on an air bearing translation platform.The geometric resolution of the displacements obtainable from the rotation of the table is undoubtedly lower than the six-axis robot, so during the additive printing of the vessel walls the rotating table will have the task of bringing a circular sector in the area of action of the robot, while I think that the resolution is sufficient during the printing of the ablative material.A sharp control software will then have to decide the best way to obtain the necessary precision by combining the table rotation, its inclination and the movements of the robot arm.