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首页> 外文期刊>Journal of Computing and Information Science in Engineering >Generating Robot Trajectories for Conformal Three- Dimensional Printing Using Nonplanar Layers
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Generating Robot Trajectories for Conformal Three- Dimensional Printing Using Nonplanar Layers

机译：使用非平面层生成用于共形三维印刷的机器人轨迹

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摘要

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.
机译：添加剂制造（AM）技术已广泛用于快速且成本高效地制造三维（3D）物体。然而，由具有曲线的复杂几何形状组成的建筑部件可能是传统AM系统的具有挑战性的过程，其能力仅限于平面层状印刷。使用六个自由度（DOF）工业机器人来克服这种限制来允许材料沉积在非平面表面上发生。在本文中，我们使用非平面材料沉积提出了用于3D打印的轨迹规划算法。选择轨迹参数以避免与印刷表面碰撞并满足机器人约束。我们通过使用6dof机器人手臂实施了我们的方法。具有各种曲率的复杂3D结构成功制造出良好的表面光洁度。

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