Trajectory Planning for Conformal 3D Printing Using Non-Planar Layers

2018 ◽  
Author(s):  
Aniruddha V. Shembekar ◽  
Yeo Jung Yoon ◽  
Alec Kanyuck ◽  
Satyandra K. Gupta
Keyword(s):  
Additive Manufacturing ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Complex Geometries ◽  
Robot Arm ◽  
Joint Movement ◽  
Tool Orientation ◽  
3D Objects ◽  
Planar Surfaces ◽  
Build Time

Additive manufacturing (AM) technologies have been widely used to fabricate 3D objects quickly and cost-effectively. However, building parts consisting of complex geometries with multiple curvatures can be a challenging process for the traditional AM system whose capability is restricted to planar-layered printing. Using 6-DOF industrial robots for AM overcomes this limitation by allowing materials to deposit on non-planar surfaces with desired tool orientation. In this paper, we present collision-free trajectory planning for printing using non-planar deposition. Trajectory parameters subject to surface curvature are properly controlled to avoid any collision with printing surface. We have implemented our approach by using a 6-DOF robot arm. The complex 3D structures with various curvatures were successfully fabricated, while avoiding any failures in joint movement, holding comparable build time and completing with a satisfactory surface finish.

Cubic Spline Trajectory Planning and Vibration Suppression of Semiconductor Wafer Transfer Robot Arm

2014 ◽  
Vol 8 (2) ◽  
pp. 265-274 ◽  
Author(s):  
Wisnu Aribowo ◽  
◽  
Kazuhiko Terashima
Keyword(s):  
Trajectory Planning ◽  
Vibration Suppression ◽  
Cubic Spline ◽  
Industrial Robots ◽  
Robot Arm ◽  
Polynomial Splines ◽  
Semiconductor Wafer ◽  
Motion Time ◽  
Jerk Limitation ◽  
Robotic Applications

Vibration-free motion in minimal time is desired for industrial robotic applications. Hence, these criteria have to be considered during trajectory planning for a robot arm, wherein polynomial splines are often used for interpolating the trajectory through several via points. Among polynomial splines, the cubic spline is the lowest-degree spline that can provide jerk limitation, a feature that is important for reducing vibration during motion. However, using jerk limitation alone does not eliminate vibration completely and sometimes restricts the performance of industrial robots. This paper proposes an implementation of cubic spline optimization with free via points for reducing motion time, combined with input shaping for suppressing vibration. Experiments are conducted on a semiconductor wafer transfer robot arm to demonstrate the effectiveness of the proposed approach.

Generating Robot Trajectories for Conformal Three-Dimensional Printing Using Nonplanar Layers

2019 ◽  
Vol 19 (3) ◽  
Author(s):  
Aniruddha V. Shembekar ◽  
Yeo Jung Yoon ◽  
Alec Kanyuck ◽  
Satyandra K. Gupta
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Industrial Robots ◽  
Robot Arm ◽  
Three Dimensional Printing ◽  
Six Degrees Of Freedom ◽  
3D Objects ◽  
Good Surface ◽  
Material Deposition ◽  
Good Surface Finish

Additive manufacturing (AM) technologies have been widely used to fabricate three-dimensional (3D) objects quickly and cost-effectively. However, building parts consisting of complex geometries with curvatures can be a challenging process for the traditional AM system whose capability is restricted to planar layered printing. Using six degrees-of-freedom (DOF) industrial robots for AM overcomes this limitation by allowing the material deposition to take place on nonplanar surfaces. In this paper, we present trajectory planning algorithms for 3D printing using nonplanar material deposition. Trajectory parameters are selected to avoid collision with printing surface and satisfy robot constraints. We have implemented our approach by using a 6DOF robot arm. The complex 3D structures with various curvatures were successfully fabricated with a good surface finish.

scholarly journals Evaluation of Additive Manufacturing Processes in Fabrication of Personalized Robot

2017 ◽  
Vol 11 (1) ◽  
pp. 29-37 ◽  
Author(s):  
Shushu Wang ◽  
◽  
Rakshith Badarinath ◽  
El-Amine Lehtihet ◽  
Vittaldas Prabhu
Keyword(s):  
Additive Manufacturing ◽  
Fused Deposition Modeling ◽  
Customer Participation ◽  
Design Stage ◽  
Robot Arm ◽  
Mechanical Assembly ◽  
End Effector ◽  
Fused Deposition ◽  
Build Time ◽  
Cad Models

Customer participation in the design stage of creating personalized products is increasing. Additive manufacturing (AM) has become a popular enabler of personalization. In this study, we evaluate the fabrication of an open-source robot arm in terms of cost, build time, dimensional and locational accuracy, end-effector accuracy, and mechanical properties. The mechanical components of the table-top robot were fabricated using two different AM processes of fused deposition modeling (FDM) and material jetting (polymer jetting or PolyJet). A reduction of infill density by 50% in the FDM process slightly decreased the building time, material cost, and tensile strength, but induced a 95% reduction in yield strength. A simulation of the mechanical assembly using the CAD models for the robot and the expected tolerances of the components estimated the end-effector positioning accuracy as 0.01–0.22 mm. The 3D printed robot arm was redesigned and fabricated using the best evaluated process in this study.

scholarly journals A force/motion control approach based on trajectory planning for industrial robots with closed control architecture

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Alejandro GutierreznGiles ◽  
Luis U. EvangelistanHernandez ◽  
Marco A. Arteaga ◽  
Carlos A. CruznVillar ◽  
Alejandro RodrigueznAngeles
Keyword(s):  
Motion Control ◽  
Trajectory Planning ◽  
Industrial Robots ◽  
Control Architecture ◽  
Control Approach

Complex geometries in additive manufacturing: A new solution for lattice structure modeling and monitoring

2021 ◽  
pp. 1-23
Author(s):  
Bianca Maria Colosimo ◽  
Marco Grasso ◽  
Federica Garghetti ◽  
Beatrice Rossi
Keyword(s):  
Additive Manufacturing ◽  
Lattice Structure ◽  
Complex Geometries ◽  
Structure Modeling

scholarly journals An Optimization Workflow in Design for Additive Manufacturing

2021 ◽  
Vol 11 (6) ◽  
pp. 2572
Author(s):  
Stefano Rosso ◽  
Federico Uriati ◽  
Luca Grigolato ◽  
Roberto Meneghello ◽  
Gianmaria Concheri ◽  
...  
Keyword(s):  
Additive Manufacturing ◽  
Structural Optimization ◽  
Geometric Model ◽  
Complex Geometries ◽  
Design Phase ◽  
Design For Additive Manufacturing ◽  
Engineering Software ◽  
Embodiment Design ◽  
Pros And Cons

Additive Manufacturing (AM) brought a revolution in parts design and production. It enables the possibility to obtain objects with complex geometries and to exploit structural optimization algorithms. Nevertheless, AM is far from being a mature technology and advances are still needed from different perspectives. Among these, the literature highlights the need of improving the frameworks that describe the design process and taking full advantage of the possibilities offered by AM. This work aims to propose a workflow for AM guiding the designer during the embodiment design phase, from the engineering requirements to the production of the final part. The main aspects are the optimization of the dimensions and the topology of the parts, to take into consideration functional and manufacturing requirements, and to validate the geometric model by computer-aided engineering software. Moreover, a case study dealing with the redesign of a piston rod is presented, in which the proposed workflow is adopted. Results show the effectiveness of the workflow when applied to cases in which structural optimization could bring an advantage in the design of a part and the pros and cons of the choices made during the design phases were highlighted.

Robot Trajectory Planning Using Rational Frenet-Serret Curves

Volume 2 ◽  
2004 ◽  
Author(s):  
Reza Ravani ◽  
Ali Meghdari
Keyword(s):  
Trajectory Planning ◽  
Computer Animation ◽  
Rational Curves ◽  
Robot Arm ◽  
Robot Trajectory ◽  
Arm Motion ◽  
Sweep Surface ◽  
And Robotics ◽  
Rotation Minimizing Frame ◽  
Robot Trajectory Planning

The aim of this paper is to demonstrate that the techniques of Computer Aided Geometric Design such as spatial rational curves and surfaces could be applied to Kinematics, Computer Animation and Robotics. For this purpose we represent a method which utilizes a special class of rational curves called Rational Frenet-Serret (RF) [8] curves for robot trajectory planning. RF curves distinguished by the property that the motion of their Frenet-Serret frame is rational. We describe an algorithm for interpolation of positions by a rational Frenet-Serret motion. Further more we provide an analysis on spatial frames (Frenet-Serret frame and Rotation Minimizing frame) for smooth robot arm motion and investigate their applications in sweep surface modeling.

scholarly journals Additive Manufacturing of Ti-Based Intermetallic Alloys: A Review and Conceptualization of a Next-Generation Machine

Materials ◽  
2021 ◽  
Vol 14 (15) ◽  
pp. 4317
Author(s):  
Thywill Cephas Dzogbewu ◽  
Willie Bouwer du Preez
Keyword(s):  
Heat Treatment ◽  
High Temperature ◽  
Additive Manufacturing ◽  
Complex Geometries ◽  
Intermetallic Alloys ◽  
Tial Alloys ◽  
Conventional Methods ◽  
Manufacturing Technologies ◽  
In Situ Heat Treatment

TiAl-based intermetallic alloys have come to the fore as the preferred alloys for high-temperature applications. Conventional methods (casting, forging, sheet forming, extrusion, etc.) have been applied to produce TiAl intermetallic alloys. However, the inherent limitations of conventional methods do not permit the production of the TiAl alloys with intricate geometries. Additive manufacturing technologies such as electron beam melting (EBM) and laser powder bed fusion (LPBF), were used to produce TiAl alloys with complex geometries. EBM technology can produce crack-free TiAl components but lacks geometrical accuracy. LPBF technology has great geometrical precision that could be used to produce TiAl alloys with tailored complex geometries, but cannot produce crack-free TiAl components. To satisfy the current industrial requirement of producing crack-free TiAl alloys with tailored geometries, the paper proposes a new heating model for the LPBF manufacturing process. The model could maintain even temperature between the solidified and subsequent layers, reducing temperature gradients (residual stress), which could eliminate crack formation. The new conceptualized model also opens a window for in situ heat treatment of the built samples to obtain the desired TiAl (γ-phase) and Ti3Al (α2-phase) intermetallic phases for high-temperature operations. In situ heat treatment would also improve the homogeneity of the microstructure of LPBF manufactured samples.

Build Time Analysis of Additive Manufacturing for Next Generation SLS Systems

2020 ◽  
Author(s):  
Michael Machado ◽  
Raul Fangueiro ◽  
Daniel Barros ◽  
Luís Nobre ◽  
João Bessa ◽  
...  
Keyword(s):  
Additive Manufacturing ◽  
Selective Laser Sintering ◽  
Material Point ◽  
Point Of View ◽  
Efficient Production ◽  
Robust Solution ◽  
Functional Product ◽  
Build Time ◽  
Consistent Solution ◽  
Production Solutions

Abstract With the recent advances in the additive manufacturing (AM) production technologies, AM is becoming more common in today’s industry, nowadays is a normal practice to use this solution either to test a new prototype or to manufacture a functional product. The increase application is mainly due to significant developments in the production solutions of the AM. These recent developments are resulting in an increase search for new and more efficient production solutions. This search is always focused in producing more efficiently, with a greater variety of materials and produce part with better quality and proprieties. From an industrial point of view, one of the types of additive manufacturing that is increasing the percentage of use is the selective laser sintering (SLS) technologies. Although this process was first used in the mid-80’s, it has shown great developments in the recent years. This evolution of the process allowed it to become a solid solution even if it is highly time consuming, especially when compared with other types of addictive manufacturing. From the several aspects that make the SLS a robust solution is the fact that it offers a consistent solution to produce high complex part with good mechanical properties, and also the ability to use many core materials, from polymers, metal alloy, ceramics or even composites materials. Due to the fact that the production of part using SLS technologies takes a long time, shows the relevance to study the entire process in order to quantify the time spent in each stage a very important step. This study can be conducted with two major goals, in one hand to be able to predict the build time needed to complete a predetermined task, and in other hand, to improve the overall efficiency of the process based on the knowledge acquired in the previous analysis. These two aspects are important because they allow the machine operator to choose the production plan more carefully and also to know all the parameters of the process to make it more efficient. In this paper will be presented a survey of the major stages of a SLS process in order to quantify the time consumed in each one of the stages, and if possible, determine solution to reduce the time spent. To better understand the topic the paper will be divided according to the proprieties and time consumed in each of the elements of the process. In other words, it will be divided accordingly to a machine, laser and material point of view. Furthermore, this paper will be focused in the SLS process and the productions based in a polymeric powder, therefore also containing aspects related to the power source used.

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