Browsing by Subject "degrees of freedom"
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Item Control System Framework for Using G-Code-Based 3D Printing Paths on a Multi-Degree of Freedom Robotic Arm(University of Texas at Austin, 2018) Nycz, Andrzej; Noakes, Mark W.; Masuo, Christopher J.; Love, Lonnie J.This paper describes a control system framework using G-Code-based 3D printing paths on a serial link robot manipulator with multiple degrees of freedom. Usually, G-Code is created by a software application, commonly referred to as a slicer, meant for gantry systems. However, G-Code does not address the kinematic complexity nor take advantage of the flexibility available in serial link robot manipulators. This paper provides an overview of the additive manufacturing process and G-Code, types of additive manufacturing deposition movements, common terminology used, the roles of parsers and translators, step-by-step instructions on how to implement this control system, and results and findings from this research. The presented framework can be used for a number of additive manufacturing methods, hybrid solutions, or applications not directly related to additive manufacturing. The implementation was successfully tested on a manipulator with seven degrees of freedom that successfully performed hundreds of hours of large-scale wire arc metal deposition.Item Cooperative Fabrication Methodology for Embedding Wireon Corved Surfaces(University of Texas at Austin, 2014) Kim, C.Y.; Cuaron, A.; Perez, M.A.; Espalin, D.; MacDonald, E.; Wicker, R.B.In conventional additive manufacturing (AM), an object is fabricated by depositing material in a layer by layer fashion. Typically, this process is retained so that deposition can occur on flat surfaces and motion can be constrained to requiring only three degrees of freedom (DOF) in a Cartesian coordinate system. When incorporating wire in three-dimensional (3D) objects, there is sometimes a need for placement along curved surfaces on which positions are defined not only by 3D Cartesian coordinates but also angular ones. Therefore, a minimum of two additional DOFs are required allowing movement to be generated at the build platform as well as of the extrusion head. This paper addresses a method for trajectory planning of both systems, that is, the extrusion head and the movable build platform, allowing for cooperative and harmonic motion between the two.