A Robotic Cell for Multi-Resolution Additive Manufacturing
Prahar M. Bhatt, Ariyan M. Kabir, Rishi K. Malhan, Brual Shah, Aniruddha V. Shembekar, Yeo Jung Yoon, Satyandra K. Gupta
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.
BibTeX
@inproceedings{icra2019_aroboticcellform,
title = {A Robotic Cell for Multi-Resolution Additive Manufacturing},
author = {Prahar M. Bhatt and Ariyan M. Kabir and Rishi K. Malhan and Brual Shah and Aniruddha V. Shembekar and Yeo Jung Yoon and Satyandra K. Gupta},
booktitle = {ICRA 2019},
year = {2019}
}