TY - JOUR
T1 - Singularity-Aware Motion Planning for Multi-Axis Additive Manufacturing
AU - Zhang, Tianyu
AU - Chen, Xiangjia
AU - Fang, Guoxin
AU - Tian, Yingjun
AU - Wang, Charlie C.L.
N1 - Funding Information:
Manuscript received February 27, 2021; accepted June 16, 2021. Date of publication June 22, 2021; date of current version July 6, 2021. This letter was recommended for publication by Associate Editor K. Yu and Editor J. Yi upon evaluation of the reviewers’ comments. This work was partially supported by HKSAR RGC General Research Fund: 14202219 when the authors worked at CUHK. (Corresponding author: Charlie C.L. Wang.) Tianyu Zhang, Yingjun Tian, and Charlie C. L. Wang are with the Department of Mechanical, Aerospace, and Civil Engineering, University of Manchester, Manchester, The United Kingdom (e-mail: [email protected]; [email protected]; [email protected]).
Publisher Copyright:
© 2016 IEEE.
PY - 2021/10
Y1 - 2021/10
N2 - Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on rotational axes is a critical issue to be tackled in motion planning for ensuring high quality of manufacturing results. The highly nonlinear mapping in the singular region can convert a smooth toolpath with uniformly sampled waypoints defined in the model coordinate system into a highly discontinuous motion in the machine coordinate system, which leads to over-extrusion/under-extrusion of materials in filament-based additive manufacturing. The problem is challenging as both the maximal and the minimal speeds at the tip of a printer head must be controlled in motion. Moreover, collision may occur when sampling-based collision avoidance is employed. In this letter, we present a motion planning method to support the manufacturing realization of designed toolpaths for multi-axis additive manufacturing. Problems of singularity and collision are considered in an integrated manner to improve the motion therefore the quality of fabrication.
AB - Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on rotational axes is a critical issue to be tackled in motion planning for ensuring high quality of manufacturing results. The highly nonlinear mapping in the singular region can convert a smooth toolpath with uniformly sampled waypoints defined in the model coordinate system into a highly discontinuous motion in the machine coordinate system, which leads to over-extrusion/under-extrusion of materials in filament-based additive manufacturing. The problem is challenging as both the maximal and the minimal speeds at the tip of a printer head must be controlled in motion. Moreover, collision may occur when sampling-based collision avoidance is employed. In this letter, we present a motion planning method to support the manufacturing realization of designed toolpaths for multi-axis additive manufacturing. Problems of singularity and collision are considered in an integrated manner to improve the motion therefore the quality of fabrication.
KW - Additive manufacturing
KW - collision checking
KW - multi-axis motion planning
KW - singularity
U2 - 10.1109/LRA.2021.3091109
DO - 10.1109/LRA.2021.3091109
M3 - Article
AN - SCOPUS:85112297114
SN - 2377-3766
VL - 6
SP - 6172
EP - 6179
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 4
M1 - 9462416
ER -
