Online cooperative printing by mobile robots
ABSTRACTCooperative printing, where multiple printheads concurrently print a part, significantly improves printing speed. However, current literature only discussed offline path planning, in which the toolpaths are generated before the printing process starts. Offline path planning is unreliable and...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2023-12-01
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| Series: | Virtual and Physical Prototyping |
| Subjects: | |
| Online Access: | https://www.tandfonline.com/doi/10.1080/17452759.2023.2276257 |
| _version_ | 1797635710375690240 |
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| author | Abdullah Alhijaily Zekai Murat Kilic Paulo Bartolo |
| author_facet | Abdullah Alhijaily Zekai Murat Kilic Paulo Bartolo |
| author_sort | Abdullah Alhijaily |
| collection | DOAJ |
| description | ABSTRACTCooperative printing, where multiple printheads concurrently print a part, significantly improves printing speed. However, current literature only discussed offline path planning, in which the toolpaths are generated before the printing process starts. Offline path planning is unreliable and leads to collisions for systems with uncertainties such as mobile robots. In this paper, we developed several online path planning algorithms for cooperative printing by mobile robots that allow toolpath allocation in real time. Unlike offline path planning, it is not possible to replan the layer in case of collision in online systems. Thus, we developed a novel algorithm that guarantees collision avoidance in real time. The system was evaluated through both simulations and experiments. The mobile robots cooperatively printed several layers which showed that the system can significantly increase the speed of 3D printing. This work stands as the first in the literature that allows online path planning for cooperative printing. |
| first_indexed | 2024-03-11T12:25:14Z |
| format | Article |
| id | doaj.art-f08e87ab3644449294e16e61fbb75f7c |
| institution | Directory Open Access Journal |
| issn | 1745-2759 1745-2767 |
| language | English |
| last_indexed | 2024-03-11T12:25:14Z |
| publishDate | 2023-12-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | Virtual and Physical Prototyping |
| spelling | doaj.art-f08e87ab3644449294e16e61fbb75f7c2023-11-06T12:03:00ZengTaylor & Francis GroupVirtual and Physical Prototyping1745-27591745-27672023-12-0118110.1080/17452759.2023.2276257Online cooperative printing by mobile robotsAbdullah Alhijaily0Zekai Murat Kilic1Paulo Bartolo2Department of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester, UKDepartment of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester, UKDepartment of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester, UKABSTRACTCooperative printing, where multiple printheads concurrently print a part, significantly improves printing speed. However, current literature only discussed offline path planning, in which the toolpaths are generated before the printing process starts. Offline path planning is unreliable and leads to collisions for systems with uncertainties such as mobile robots. In this paper, we developed several online path planning algorithms for cooperative printing by mobile robots that allow toolpath allocation in real time. Unlike offline path planning, it is not possible to replan the layer in case of collision in online systems. Thus, we developed a novel algorithm that guarantees collision avoidance in real time. The system was evaluated through both simulations and experiments. The mobile robots cooperatively printed several layers which showed that the system can significantly increase the speed of 3D printing. This work stands as the first in the literature that allows online path planning for cooperative printing.https://www.tandfonline.com/doi/10.1080/17452759.2023.22762573D printingonline path planningmobile 3D printerreal-time path planningcooperative printing |
| spellingShingle | Abdullah Alhijaily Zekai Murat Kilic Paulo Bartolo Online cooperative printing by mobile robots Virtual and Physical Prototyping 3D printing online path planning mobile 3D printer real-time path planning cooperative printing |
| title | Online cooperative printing by mobile robots |
| title_full | Online cooperative printing by mobile robots |
| title_fullStr | Online cooperative printing by mobile robots |
| title_full_unstemmed | Online cooperative printing by mobile robots |
| title_short | Online cooperative printing by mobile robots |
| title_sort | online cooperative printing by mobile robots |
| topic | 3D printing online path planning mobile 3D printer real-time path planning cooperative printing |
| url | https://www.tandfonline.com/doi/10.1080/17452759.2023.2276257 |
| work_keys_str_mv | AT abdullahalhijaily onlinecooperativeprintingbymobilerobots AT zekaimuratkilic onlinecooperativeprintingbymobilerobots AT paulobartolo onlinecooperativeprintingbymobilerobots |