Efficient Path Planning of Secondary Additive Manufacturing Operations
We have designed a path planner for an additive manufacturing (AM) prototype that consists of two robotic arms which collaborate on a single part. Theoretically, with two nozzle equipped arms, a part can be 3D printed twice as fast. Moreover, equipping the second robot with a machining tool enables...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2018-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | https://doi.org/10.1051/matecconf/201824903011 |
| _version_ | 1818930147049340928 |
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| author | McQueen Keimargeo Darensbourg Sara Moore Carl Dickens Tarik Allen Clement |
| author_facet | McQueen Keimargeo Darensbourg Sara Moore Carl Dickens Tarik Allen Clement |
| author_sort | McQueen Keimargeo |
| collection | DOAJ |
| description | We have designed a path planner for an additive manufacturing (AM) prototype that consists of two robotic arms which collaborate on a single part. Theoretically, with two nozzle equipped arms, a part can be 3D printed twice as fast. Moreover, equipping the second robot with a machining tool enables the completion of secondary operations like hole reaming or surface milling before the printing is finished. With two arms in the part space care must be taken to ensure that the arms collaborate intelligently; in particular, tasks must be planned so that the robots do not collide. This paper discusses the development of a robot path planner to efficiently print segments with two arms, while maintaining a safe distance between them. A solution to the travelling salesman problem, an optimal path planning problem, was used to successfully determine the robots path plans while a simple nozzle-to-nozzle distance calculation was added to represent avoiding robot-to-robot collisions. As a result, in simulation, the average part completion time was reduced by 45% over the single nozzle case. Importantly, the algorithm can theoretically be run on n-robots, so time reduction possibilities are large. |
| first_indexed | 2024-12-20T03:56:04Z |
| format | Article |
| id | doaj.art-71d43d983c774ea78bf4b63a1a60dbd5 |
| institution | Directory Open Access Journal |
| issn | 2261-236X |
| language | English |
| last_indexed | 2024-12-20T03:56:04Z |
| publishDate | 2018-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | MATEC Web of Conferences |
| spelling | doaj.art-71d43d983c774ea78bf4b63a1a60dbd52022-12-21T19:54:19ZengEDP SciencesMATEC Web of Conferences2261-236X2018-01-012490301110.1051/matecconf/201824903011matecconf_icmmm2018_03011Efficient Path Planning of Secondary Additive Manufacturing OperationsMcQueen Keimargeo0Darensbourg Sara1Moore Carl2Dickens Tarik3Allen Clement4Dept. of Computer and Information Sciences, Florida A&M UniversityDept. of Computer and Information Sciences, Florida A&M UniversityDept. of Mechanical Engineering, FAMU-FSU College of EngineeringDept. of Industrial Engineering, FAMU-FSU College of EngineeringDept. of Computer and Information Sciences, Florida A&M UniversityWe have designed a path planner for an additive manufacturing (AM) prototype that consists of two robotic arms which collaborate on a single part. Theoretically, with two nozzle equipped arms, a part can be 3D printed twice as fast. Moreover, equipping the second robot with a machining tool enables the completion of secondary operations like hole reaming or surface milling before the printing is finished. With two arms in the part space care must be taken to ensure that the arms collaborate intelligently; in particular, tasks must be planned so that the robots do not collide. This paper discusses the development of a robot path planner to efficiently print segments with two arms, while maintaining a safe distance between them. A solution to the travelling salesman problem, an optimal path planning problem, was used to successfully determine the robots path plans while a simple nozzle-to-nozzle distance calculation was added to represent avoiding robot-to-robot collisions. As a result, in simulation, the average part completion time was reduced by 45% over the single nozzle case. Importantly, the algorithm can theoretically be run on n-robots, so time reduction possibilities are large.https://doi.org/10.1051/matecconf/201824903011 |
| spellingShingle | McQueen Keimargeo Darensbourg Sara Moore Carl Dickens Tarik Allen Clement Efficient Path Planning of Secondary Additive Manufacturing Operations MATEC Web of Conferences |
| title | Efficient Path Planning of Secondary Additive Manufacturing Operations |
| title_full | Efficient Path Planning of Secondary Additive Manufacturing Operations |
| title_fullStr | Efficient Path Planning of Secondary Additive Manufacturing Operations |
| title_full_unstemmed | Efficient Path Planning of Secondary Additive Manufacturing Operations |
| title_short | Efficient Path Planning of Secondary Additive Manufacturing Operations |
| title_sort | efficient path planning of secondary additive manufacturing operations |
| url | https://doi.org/10.1051/matecconf/201824903011 |
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