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.
Skip Nav Destination
Article navigation
September 2019
Research-Article
Generating Robot Trajectories for Conformal Three-Dimensional Printing Using Nonplanar Layers
Aniruddha V. Shembekar,
Aniruddha V. Shembekar
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
University of Southern California,
Los Angeles, CA 90007
Search for other works by this author on:
Yeo Jung Yoon,
Yeo Jung Yoon
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
University of Southern California,
Los Angeles, CA 90007
Search for other works by this author on:
Alec Kanyuck,
Alec Kanyuck
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
University of Southern California,
Los Angeles, CA 90007
Search for other works by this author on:
Satyandra K. Gupta
Satyandra K. Gupta
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
e-mail: guptask@usc.edu
University of Southern California,
Los Angeles, CA 90007
e-mail: guptask@usc.edu
1Corresponding author.
Search for other works by this author on:
Aniruddha V. Shembekar
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
University of Southern California,
Los Angeles, CA 90007
Yeo Jung Yoon
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
University of Southern California,
Los Angeles, CA 90007
Alec Kanyuck
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
University of Southern California,
Los Angeles, CA 90007
Satyandra K. Gupta
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
e-mail: guptask@usc.edu
University of Southern California,
Los Angeles, CA 90007
e-mail: guptask@usc.edu
1Corresponding author.
Contributed by the Computers and Information Division of ASME for publication in the JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING. Manuscript received September 25, 2018; final manuscript received February 26, 2019; published online April 1, 2019. Assoc. Editor: Yan Wang.
J. Comput. Inf. Sci. Eng. Sep 2019, 19(3): 031011 (13 pages)
Published Online: April 1, 2019
Article history
Received:
September 25, 2018
Revised:
February 26, 2019
Citation
Shembekar, A. V., Yoon, Y. J., Kanyuck, A., and Gupta, S. K. (April 1, 2019). "Generating Robot Trajectories for Conformal Three-Dimensional Printing Using Nonplanar Layers." ASME. J. Comput. Inf. Sci. Eng. September 2019; 19(3): 031011. https://doi.org/10.1115/1.4043013
Download citation file:
Get Email Alerts
Cited By
Making-A-Scene: A Preliminary Case Study on Speech-based 3D Shape Exploration through Scene Modeling
J. Comput. Inf. Sci. Eng
A Web-based Collaborative Method for SysML Modeling
J. Comput. Inf. Sci. Eng
Functional Requirements of Software Tools for Laser-Based Powder Bed Fusion Additive Manufacturing for Metals
J. Comput. Inf. Sci. Eng (June 2023)
Related Articles
A Heuristic Scaling Strategy for Multi-Robot Cooperative Three-Dimensional Printing
J. Comput. Inf. Sci. Eng (August,2020)
A Generative Approach for Scheduling Multi-Robot Cooperative Three-Dimensional Printing
J. Comput. Inf. Sci. Eng (December,2020)
Optimization in the Design and Control of Robotic Manipulators: A Survey
Appl. Mech. Rev (April,1989)
Autonomous Operation in Surgical Robotics
Mechanical Engineering (September,2015)
Related Proceedings Papers
Related Chapters
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution
Dynamic Control Strategy of a Biped Inspired from Human Walking
Intelligent Engineering Systems through Artificial Neural Networks Volume 18
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution