A Robot-Centered Path-Planning Algorithm for Multidirectional Additive Manufacturing for WAAM Processes and Pure Object Manipulation
Source abstract
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.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Additive Manufacturing and 3D Printing Technologies · Additive Manufacturing Materials and Processes · Robot Manipulation and Learning
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Institute of Mechanism Theory, Machine Dynamics and Robotics (IGMR), RWTH Aachen University, Eilfschornsteinstraße 18, 52064 Aachen, Germany
Welding and Joining Institute (ISF), RWTH Aachen University, Pontstraße 49, 52062 Aachen, Germany
Funding
Deutsche Forschungsgemeinschaft
References (36)
Show source-provided references
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