特異点を考慮した多軸積層造形の動作計画
Singularity-aware motion planning for multi-axis additive manufacturing
多軸積層造形における回転軸の特異点と衝突を統合的に扱い、滑らかで高品質な造形を実現する動作計画手法を提案した論文。
著者: Tianyu Zhang, Xiangjia Chen, Guoxin Fang, Yingjun Tian, Charlie C. L. Wang
分類: cs.RO
原文アブストラクト
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 paper, 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.
