Abstract
The depowdering process in Binder Jetting Additive Manufacturing is indispensable for the integrity of 3D-printed objects, necessitating the removal of excess powder from their surfaces. However, this step poses a formidable challenge to the productivity of powder-based AM, as traditional depowdering methods reliant on manual labor prove time-consuming, labor-intensive, monotonous, and hazardous for human operators. Existing automated depowdering solutions exacerbate this challenge, with some systems demanding preliminary manual depowdering, nullifying automation benefits, while others lack the needed adaptability for diverse 3D-printed objects. In response, this manuscript proposes a robotic depowdering system designed to handle fragile 3D-printed components with precision beyond manual or less sophisticated automated methods. The proposed robotic depowdering system comprises two robots: Robot 1, responsible for generating trajectories to eliminate powder from the powder bed environment using fixed STL files, and Robot 2, which fine-tunes force and pressure while handling delicate, printed 3D objects, safeguarding their intricate structures. Preliminary experimental results confirm that the proposed depowdering system effectively handles fragile 3D objects from the powder bed environment and removes residual powder to a substantial degree. This accomplishment is of paramount significance as it directly contributes to the quality of the final product. By successfully addressing both of these critical aspects, the system demonstrates its capacity to ensure the structural integrity and overall quality of the end product, marking it as a valuable tool in the realm of additive manufacturing.
