Abstract
Previous algorithms for slicing, path planning or trajectory planning of additive manufacturing cannot be used consistently for multidirectional additive manufacturing with pure object manipulation in wire-arc additive manufacturing. This work presents a novel path planning approach that directly takes robot kinematics into account and thus ensures the reachability of all critical path poses. In an additional step, the planned path segments are smoothed so that joint velocity limits are respected. It is shown that the implemented path planner generates executable robot paths and at the same time maintains the process quality (in this case, sufficient coverage of the slice area). While the introduced method enables the generation of reachable printing paths, the smoothing algorithm allows for the execution of the path with respect to the robot’s velocity limits and at the same time improves the slice coverage. Future experiments will show the realization of the real robot setup presented.
Highlights
Multidirectional additive manufacturing provides promising opportunities ranging from the freedom of design of components to the targeted influencing of component properties compared to traditional 2.5D additive manufacturing methods
In order to analyze the impact on path planning and to evaluate the target executability, this section first analyzes the functionality of the decomposition path planner in terms of reachability, before analyzing the smoothing algorithm and its impact on manipulability and slice coverage
The inclusion of robot kinematics in the path planning algorithm ensures the reachability of the necessary robot poses for the complex 6D printing in the case of MDAM
Summary
Multidirectional additive manufacturing provides promising opportunities ranging from the freedom of design of components to the targeted influencing of component properties compared to traditional 2.5D additive manufacturing methods. The six-dimensional requirements for preprocessing (slicer, path planner and trajectory planner) cannot be ensured by algorithms and methods used for additive manufacturing or robotic coverage path planning so far. The kinematics and limits of the machine or robot executing the print are only considered during the last pre-processing step of trajectory generation before execution. This procedure usually results in paths that are not executable due to unreachable path poses or high joint velocities. A major deficit comes from the lack of consideration of the robot’s kinematics as well as its limits already during path planning. This deficit is counteracted in this work by introducing a novel robot-centered path planning method. The method is based on the decomposition of each slice into multiple convex polygons, subsequent evaluation of possible infill strategies for each polygon and selection of the most suitable infill combination by a modified Hamilton
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