PATH PLANNING FOR NON-PLANAR ROBOTIC ADDITIVE MANUFACTURING

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Date

2023

Authors

Geuy, Michael
Martin, Jay
Simpson, Timothy
Meisel, Nicholas

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Publisher

University of Texas at Austin

Abstract

As material extrusion additive manufacturing continues to mature, there is increasing need for an extrusion path planning (“slicing”) method that takes full advantage of the abilities of manydegree-of-freedom systems like those used in Robotic Material Extrusion (RoMEX). These systems can create engineering parts with complex geometries and improved mechanical properties by utilizing non-planar curved layers, part-region-specific extrusion parameters, and support-free printing. This paper explores the application of 3D surfaces (demonstrated here with an upward pointing cone) as the basis of non-planar layer generation without the need to decompose the object into regions. Creation of these toolpaths incorporates key principles from planar, multi-planar, and active-Z path generation methods with attention paid to variable layer thickness, extrusion angle control, and overhang angle. The primary result of this work is a method for the generation of curved extrusion paths forming layers of arbitrary shape for arbitrary part geometry, based on a novel combination of existing best practices present throughout the available literature.

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