Abstract
Conventional additive manufacturing approaches that build objects in horizontal layers using manipulators with 3 degrees of freedom (DOF) usually result in poor object strength in the vertical direction as well as poor surface quality. These issues can be mitigated by including curved layers in the manufacturing process. Additively building an object using curved layers requires manipulators with extra degrees of freedom as well as new path planning algorithms. We present a new approach to curved layer slicing by translating the geometrical problem of slicing to an optimization one, leading to better performance in terms of accuracy and speed than the existing methods. We also developed a new method of path planning on curved surfaces that ensures better inter-track bonding and consequently better strength and object quality compared to previous approaches. Finally, we implement and test our algorithms on a 6-DOF industrial robot.
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Notes
- 1.
A specific example of such a surface would be a ruled surface for which the slicing procedure would correspond to the well studied Bertrand offset [8].
- 2.
In [4] they employ averaging of the offset points to deal with the fact that a single original vertex maps to several. This results again in the same question of what weights to assign to different faces, analogously to the problem of defining vertex normals above.
- 3.
A different definition of error would mean we optimize for that error instead of the quadratic in Eq. 1. Thus, whatever the definition of error, the method in this paper generates offset surfaces that minimize it.
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Acknowledgements
This work was supported by the European cohesion funds as part of the project Development of multiaxis robotic 3D printing of composite materials - MMO3D under the grant Interreg V-A Slovenia-Austria, ESRR No. SIAT73, and by the Slovenian Research Agency (ARRS) under research program Motion analysis and synthesis in man and machine (P20228).
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Kraljić, D., Kamnik, R. (2019). Trajectory Planning for Additive Manufacturing with a 6-DOF Industrial Robot. In: Aspragathos, N., Koustoumpardis, P., Moulianitis, V. (eds) Advances in Service and Industrial Robotics. RAAD 2018. Mechanisms and Machine Science, vol 67. Springer, Cham. https://doi.org/10.1007/978-3-030-00232-9_48
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DOI: https://doi.org/10.1007/978-3-030-00232-9_48
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