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.
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September 2019
Research-Article
Generating Robot Trajectories for Conformal Three-Dimensional Printing Using Nonplanar Layers Available to Purchase
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
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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
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Alec Kanyuck,
Alec Kanyuck
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
University of Southern California,
Los Angeles, CA 90007
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Satyandra K. Gupta
Satyandra K. Gupta
Center for Advanced Manufacturing,
University of Southern California,
Los Angeles, CA 90007
e-mail: [email protected]
University of Southern California,
Los Angeles, CA 90007
e-mail: [email protected]
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: [email protected]
University of Southern California,
Los Angeles, CA 90007
e-mail: [email protected]
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
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