Proposed Workflow – Additive Manufacturing

Goal is to make real time connection for 3d printing in order to change the parameters to adapt the changes in environment and model during 3d printing. Taking the leverage of  industry 4.0 for adaptive control of 3d printing.

Scope

Scope of the project is to correct the printing path and robot parameters according to the deviations in printed layer in z axis due to buckling and printed layer width due to over and under extrusion.

Setup Connection

The robot to be used is Universal Robot 10e which has built in force torque sensors to be safe for human-machine collaboration. In this setup universal robot UR10e is used with Machina frame work.

Strategy (Sensing & Response Conditions)

3d Depth Camera is used take the depth frames and RGB frames. From RGB position on the frame is selected by call back function and with depth image the depth is extracted for real time path planning. Depth value is determining the flow rate of 3d print.

 

Configuration (Depth Camera)

The camera is mounted on the linear slider at the distance range of 450 – 550mm from the 3d printed geometry. The purpose to use the linear slider is to avoid the distortions and for more surface area coverage.

Test 1 (Real Time 3d Printing)

The geometry in this experiment is square column 3d printed with  real time feedback of depth sensor.

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Test 2 (Real Time 3d Printing)

The geometry in this experiment is 45 degree twisted column 3d printed with  real time feedback of depth sensor.

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Test 3 (Real Time 3d Printing)

The geometry in this experiment is 60 degree twisted column 3d printed with  real time feedback of depth sensor.

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Test 4 (Real Time 3d Printing)

The geometry in this experiment is 70 degree twisted column 3d printed with  real time feedback of depth sensor.

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Post Evaluation (3d Scanning)

3d Printed geometry was in fresh state during 3d printing and the post evaluation was also done by 3d scanning to compare the designed geometry and 3d printed geometry deviation. The deviation observed through this method was 6% in volume.

Cyber Physical 3d Printing is a project of IAAC, Institute for Advanced Architecture of Catalonia developed in the Master in Robotics and Advanced Construction 2019/21 by:

Research Students: Mansoor Awais

Faculty: Raimund Krenmueller, Angel Muñoz, Soroush Garivani