MATEC Web Conf.
Volume 249, 20182018 5th International Conference on Mechanical, Materials and Manufacturing (ICMMM 2018)
|Number of page(s)||5|
|Section||Mechanical Engineering and Digital Manufacturing|
|Published online||10 December 2018|
Efficient Path Planning of Secondary Additive Manufacturing Operations
1 Dept. of Computer and Information Sciences, Florida A&M University, Tallahassee, FL 32307, USA
2 Dept. of Mechanical Engineering, FAMU-FSU College of Engineering, Tallahassee, FL 32310, USA
3 Dept. of Industrial Engineering, FAMU-FSU College of Engineering, Tallahassee, FL 32310, USA
We have designed a path planner for an additive manufacturing (AM) prototype that consists of two robotic arms which collaborate on a single part. Theoretically, with two nozzle equipped arms, a part can be 3D printed twice as fast. Moreover, equipping the second robot with a machining tool enables the completion of secondary operations like hole reaming or surface milling before the printing is finished. With two arms in the part space care must be taken to ensure that the arms collaborate intelligently; in particular, tasks must be planned so that the robots do not collide. This paper discusses the development of a robot path planner to efficiently print segments with two arms, while maintaining a safe distance between them. A solution to the travelling salesman problem, an optimal path planning problem, was used to successfully determine the robots path plans while a simple nozzle-to-nozzle distance calculation was added to represent avoiding robot-to-robot collisions. As a result, in simulation, the average part completion time was reduced by 45% over the single nozzle case. Importantly, the algorithm can theoretically be run on n-robots, so time reduction possibilities are large.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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