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...

Full description

Saved in:
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
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by cdi_FETCH-LOGICAL-c223t-6959f890df86c46995035f158f3b7c832ba200421199161d4d40db4aeb0448e93
cites
container_end_page 2807
container_issue
container_start_page 2800
container_title
container_volume
creator Bhatt, Prahar M.
Kabir, Ariyan M.
Malhan, Rishi K.
Shah, Brual
Shembekar, Aniruddha V.
Yoon, Yeo Jung
Gupta, Satyandra K.
description 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.
doi_str_mv 10.1109/ICRA.2019.8793730
format conference_proceeding
fullrecord <record><control><sourceid>ieee_CHZPO</sourceid><recordid>TN_cdi_ieee_primary_8793730</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>8793730</ieee_id><sourcerecordid>8793730</sourcerecordid><originalsourceid>FETCH-LOGICAL-c223t-6959f890df86c46995035f158f3b7c832ba200421199161d4d40db4aeb0448e93</originalsourceid><addsrcrecordid>eNotz8tKxDAUgOEoCI4z8wDiJi_QenLPcVeKl4EZhDKCuyFtEonUVtpU8O1dOKt_98FPyC2DkjHA-13dVCUHhqU1KIyAC7JFY5kSVmvgBi7JiitjCrDm_ZrczPMnAAih9Yo8VLQZ2zGnjtah72kcJ3pY-pyKJsxjv-Q0DrTyPuX0E-jBDUt0XV6mNHxsyFV0_Ry2567J29PjsX4p9q_Pu7raFx3nIhcaFUaL4KPVndSICoSKTNkoWtNZwVvHASRnDJFp5qWX4FvpQgtS2oBiTe7-3RRCOH1P6ctNv6fzqvgDYzZGBA</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>A Robotic Cell for Multi-Resolution Additive Manufacturing</title><source>IEEE Xplore All Conference Series</source><creator>Bhatt, Prahar M. ; Kabir, Ariyan M. ; Malhan, Rishi K. ; Shah, Brual ; Shembekar, Aniruddha V. ; Yoon, Yeo Jung ; Gupta, Satyandra K.</creator><creatorcontrib>Bhatt, Prahar M. ; Kabir, Ariyan M. ; Malhan, Rishi K. ; Shah, Brual ; Shembekar, Aniruddha V. ; Yoon, Yeo Jung ; Gupta, Satyandra K.</creatorcontrib><description>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.</description><identifier>EISSN: 2577-087X</identifier><identifier>EISBN: 9781538660270</identifier><identifier>EISBN: 153866027X</identifier><identifier>DOI: 10.1109/ICRA.2019.8793730</identifier><language>eng</language><publisher>IEEE</publisher><subject>Collision avoidance ; Manipulators ; Printing ; Robot kinematics ; Surface treatment</subject><ispartof>2019 International Conference on Robotics and Automation (ICRA), 2019, p.2800-2807</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c223t-6959f890df86c46995035f158f3b7c832ba200421199161d4d40db4aeb0448e93</citedby></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/8793730$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,27925,54555,54932</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/8793730$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Bhatt, Prahar M.</creatorcontrib><creatorcontrib>Kabir, Ariyan M.</creatorcontrib><creatorcontrib>Malhan, Rishi K.</creatorcontrib><creatorcontrib>Shah, Brual</creatorcontrib><creatorcontrib>Shembekar, Aniruddha V.</creatorcontrib><creatorcontrib>Yoon, Yeo Jung</creatorcontrib><creatorcontrib>Gupta, Satyandra K.</creatorcontrib><title>A Robotic Cell for Multi-Resolution Additive Manufacturing</title><title>2019 International Conference on Robotics and Automation (ICRA)</title><addtitle>ICRA</addtitle><description>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.</description><subject>Collision avoidance</subject><subject>Manipulators</subject><subject>Printing</subject><subject>Robot kinematics</subject><subject>Surface treatment</subject><issn>2577-087X</issn><isbn>9781538660270</isbn><isbn>153866027X</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2019</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNotz8tKxDAUgOEoCI4z8wDiJi_QenLPcVeKl4EZhDKCuyFtEonUVtpU8O1dOKt_98FPyC2DkjHA-13dVCUHhqU1KIyAC7JFY5kSVmvgBi7JiitjCrDm_ZrczPMnAAih9Yo8VLQZ2zGnjtah72kcJ3pY-pyKJsxjv-Q0DrTyPuX0E-jBDUt0XV6mNHxsyFV0_Ry2567J29PjsX4p9q_Pu7raFx3nIhcaFUaL4KPVndSICoSKTNkoWtNZwVvHASRnDJFp5qWX4FvpQgtS2oBiTe7-3RRCOH1P6ctNv6fzqvgDYzZGBA</recordid><startdate>201905</startdate><enddate>201905</enddate><creator>Bhatt, Prahar M.</creator><creator>Kabir, Ariyan M.</creator><creator>Malhan, Rishi K.</creator><creator>Shah, Brual</creator><creator>Shembekar, Aniruddha V.</creator><creator>Yoon, Yeo Jung</creator><creator>Gupta, Satyandra K.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>201905</creationdate><title>A Robotic Cell for Multi-Resolution Additive Manufacturing</title><author>Bhatt, Prahar M. ; Kabir, Ariyan M. ; Malhan, Rishi K. ; Shah, Brual ; Shembekar, Aniruddha V. ; Yoon, Yeo Jung ; Gupta, Satyandra K.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c223t-6959f890df86c46995035f158f3b7c832ba200421199161d4d40db4aeb0448e93</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2019</creationdate><topic>Collision avoidance</topic><topic>Manipulators</topic><topic>Printing</topic><topic>Robot kinematics</topic><topic>Surface treatment</topic><toplevel>online_resources</toplevel><creatorcontrib>Bhatt, Prahar M.</creatorcontrib><creatorcontrib>Kabir, Ariyan M.</creatorcontrib><creatorcontrib>Malhan, Rishi K.</creatorcontrib><creatorcontrib>Shah, Brual</creatorcontrib><creatorcontrib>Shembekar, Aniruddha V.</creatorcontrib><creatorcontrib>Yoon, Yeo Jung</creatorcontrib><creatorcontrib>Gupta, Satyandra K.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEL</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Bhatt, Prahar M.</au><au>Kabir, Ariyan M.</au><au>Malhan, Rishi K.</au><au>Shah, Brual</au><au>Shembekar, Aniruddha V.</au><au>Yoon, Yeo Jung</au><au>Gupta, Satyandra K.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A Robotic Cell for Multi-Resolution Additive Manufacturing</atitle><btitle>2019 International Conference on Robotics and Automation (ICRA)</btitle><stitle>ICRA</stitle><date>2019-05</date><risdate>2019</risdate><spage>2800</spage><epage>2807</epage><pages>2800-2807</pages><eissn>2577-087X</eissn><eisbn>9781538660270</eisbn><eisbn>153866027X</eisbn><abstract>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.</abstract><pub>IEEE</pub><doi>10.1109/ICRA.2019.8793730</doi><tpages>8</tpages></addata></record>
fulltext fulltext_linktorsrc
identifier EISSN: 2577-087X
ispartof 2019 International Conference on Robotics and Automation (ICRA), 2019, p.2800-2807
issn 2577-087X
language eng
recordid cdi_ieee_primary_8793730
source IEEE Xplore All Conference Series
subjects Collision avoidance
Manipulators
Printing
Robot kinematics
Surface treatment
title A Robotic Cell for Multi-Resolution Additive Manufacturing
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-01T09%3A25%3A59IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_CHZPO&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=A%20Robotic%20Cell%20for%20Multi-Resolution%20Additive%20Manufacturing&rft.btitle=2019%20International%20Conference%20on%20Robotics%20and%20Automation%20(ICRA)&rft.au=Bhatt,%20Prahar%20M.&rft.date=2019-05&rft.spage=2800&rft.epage=2807&rft.pages=2800-2807&rft.eissn=2577-087X&rft_id=info:doi/10.1109/ICRA.2019.8793730&rft.eisbn=9781538660270&rft.eisbn_list=153866027X&rft_dat=%3Cieee_CHZPO%3E8793730%3C/ieee_CHZPO%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-c223t-6959f890df86c46995035f158f3b7c832ba200421199161d4d40db4aeb0448e93%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=8793730&rfr_iscdi=true