A Robotic Cell for Multi-Resolution Additive Manufacturing

Extrusion-based additive manufacturing (AM), also known as fused deposition modeling (FDM) extrudes filaments through a heated nozzle and builds a part layer-by-layer. Using a smaller diameter nozzle can achieve better surface finish. However, there is a trade-off between surface finish and build ti...

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Bibliographic Details
Main Authors: Bhatt, Prahar M., Kabir, Ariyan M., Malhan, Rishi K., Shah, Brual, Shembekar, Aniruddha V., Yoon, Yeo Jung, Gupta, Satyandra K.
Format: Conference Proceeding
Language:English
Subjects:
Collision avoidance
Manipulators
Printing
Robot kinematics
Surface treatment
Citations: Items that cite this one
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Summary:Extrusion-based additive manufacturing (AM), also known as fused deposition modeling (FDM) extrudes filaments through a heated nozzle and builds a part layer-by-layer. Using a smaller diameter nozzle can achieve better surface finish. However, there is a trade-off between surface finish and build times as using a small diameter nozzle leads to smaller layer thickness and long build times. Traditional FDM printers create a part with planar layers, and this restricts control over fiber orientations. This paper presents a robotic cell for multi-resolution AM. The cell consists of two 6 degrees of freedom (DOF) robot manipulators capable of printing non-planar and/or planar layers. We describe algorithms for decomposing parts into multi-resolution layers and generating collision-free trajectories for the robot manipulators. We validate our approach by printing five parts with multi-resolution.
ISSN:2577-087X
DOI:10.1109/ICRA.2019.8793730