Browsing by Subject "robotic arm"
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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 Large-Scale Additive Manufacturing of Concrete Using a 6-Axis Robotic Arm for Autonomous Habitat Construction(University of Texas at Austin, 2019) Watson, N.D.; Meisel, N.A.; Bilén, S.G.; Duarte, J.; Nazarian, S.Layer-by-layer construction of concrete through additive manufacturing allows for greater design freedom in concrete construction compared to conventional casting methods. This has led researchers to pursue a variety of potential system solutions to the enable the creation of architectural-scale additively-manufactured concrete structures. One of the most common approaches is through the extrusion of concrete patterned via a six-axis robotic arm. However, while the use of a six-axis robotic arm can offer significant geometric advantages in the printing of architectural-scale concrete structures, it also suffers from significant challenges that must be addressed. In this paper, the authors discuss potential methods to address such challenges associated with (1) minimizing travel moves in toolpath design, (2) expanding the achievable build volume, and (3) inserting pre-fabricated components in a structure being printed. These solutions are then demonstrated through the context of NASA’s 3D-Printed Habitat Challenge.