Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
Volume 65, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.rcim.2020.101960
Keywords
Additive manufacturing; Multi-axis direct deposition; Redundancy-based trajectory optimization; Layer-by-layer motion planning
Funding
- metropolis Toulon Provence Mediterranee (TPM)
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This work focuses on additive manufacturing by Directed Energy Deposition (DED) using a 6-axis robot. The objective is to generate an optimized trajectory in the joint space, taking into account axis redundancy for parts of revolution produced with a coaxial deposition system. To achieve this goal, a new layer-by-layer method coupled with a trajectory constrained optimization is presented. The optimization results are theoretically compared to a non-optimized trajectory and a point-by-point optimized trajectory. The layer-by-layer generation of optimized trajectories is validated experimentally on a 6-axis robot using a PLA extrusion system. Experimental results show that the layer-by-layer trajectory optimization strategy applied to parts of revolution provides better geometrical accuracy while improving the efficiency of the manufacturing device compared to non-optimized solutions.
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