Additive manufacturing method, apparatus, device, and computer readable storage medium

Abstract

The application provides an additive manufacturing method, device, equipment and computer readable storage medium, the method comprises: obtaining the pose conversion relationship of the coordinate system of a printing base relative to the coordinate system of a mechanical arm base, the mechanical arm base is used for fixing a multi-axis mechanical arm; obtaining a three-dimensional filling path of a target structure; converting the three-dimensional filling path into a machine motion trajectory according to the pose conversion relationship of the coordinate system of the printing base relative to the coordinate system of the mechanical arm base; according to the machine motion trajectory, the multi-axis mechanical arm is used to drive the end printing tool located on the end of the multi-axis mechanical arm to print target material on the printing base. The application can be used to manufacture structures with non-planar fiber laying.

Description

Technical Field

[0001] This application relates to the field of experimental equipment, and more particularly to an additive manufacturing method, apparatus, device, and computer-readable storage medium. Background Technology

[0002] Additive manufacturing technology is relative to subtractive manufacturing. It is based on the principle of layered manufacturing. Starting from a digital model, it realizes the manufacturing of three-dimensional solid parts through the process of layer-by-layer addition rather than removal. According to its forming process, it can be divided into fused deposition modeling (FDM), stereolithography (SLA), powder bed fusion (P, the coordinate system of the robot arm base), etc.

[0003] A growing body of research is exploring the possibilities of additive manufacturing of composite materials. Composite materials are designed using two or more material components to achieve complementary properties, resulting in superior performance. In particular, composite materials with resin as the matrix and continuous fibers as reinforcement often possess excellent mechanical properties and lightweight characteristics, making them widely applicable in advanced manufacturing fields such as aerospace, automotive, and shipbuilding.

[0004] Based on the idea of ​​combining the advantages of composite materials and additive manufacturing technologies, some scholars have proposed continuous fiber-reinforced polymer additive manufacturing (CFRP-AM) technology. CFRP-AM technology can selectively deposit spatially distributed continuous fiber-reinforced composite materials, resulting in lightweight and high-strength parts, which has attracted widespread attention from industry. Depending on the molding process, CFRP-AM technology can be divided into material extrusion (MEX), directed energy deposition (DED), and laminated objective manufacturing (LOM).

[0005] CFRP-AM technology has a very broad application prospect, but due to its relatively recent development and involvement of numerous disciplines such as digital modeling, electromechanical control, and materials science, many challenges remain. For example, existing CFRP-AM manufacturing equipment based on a three-degree-of-freedom motion platform is not suitable for manufacturing complex engineering structures with non-planar fiber arrangements. Summary of the Invention

[0006] This application provides an additive manufacturing method, apparatus, device, and computer-readable storage medium that can be used to manufacture structures with non-planar fiber layup.

[0007] In a first aspect, this application provides an additive manufacturing method, comprising:

[0008] Obtain the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, wherein the robotic arm base is used to fix the multi-axis robotic arm;

[0009] Obtain the 3D filling path of the target structure;

[0010] Based on the pose transformation relationship between the coordinate system of the printed substrate and the coordinate system of the robotic arm base, the three-dimensional filling path is converted into a machine motion trajectory;

[0011] According to the machine's motion trajectory, the multi-axis robotic arm drives the end-printing tool located at the end of the multi-axis robotic arm to print the target material on the printing substrate.

[0012] Optionally, the three-dimensional filling path includes a first printing path representation, which includes the three-dimensional coordinates of multiple discrete path points in the coordinate system of the printing substrate and a normal vector;

[0013] The step of converting the three-dimensional filling path into a machine motion trajectory based on the pose transformation relationship between the coordinate system of the printed substrate and the coordinate system of the robotic arm base includes:

[0014] Obtain the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robot arm base of the multi-axis robot arm;

[0015] Based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, the first printing path representation is converted into a second printing path representation in the coordinate system of the end-effector printing tool.

[0016] Based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the second printing path representation is converted into a machine motion trajectory in the coordinate system of the robotic arm base.

[0017] Optionally, converting the first printing path representation into a second printing path representation in the coordinate system of the end-effector printing tool based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base includes:

[0018] Using the i-th discrete path point in the first printing path representation as the origin and the normalized normal vector as the Z-axis of the coordinate system of the end printing tool, the pose of the i-th discrete path point in the coordinate system of the end printing tool is constructed, and the second printing path representation includes the pose of each discrete path point in the coordinate system of the end printing tool.

[0019] Optionally, the target material includes a continuous fiber reinforced composite material.

[0020] Optionally, the target material includes fibers and resins, and the method further includes:

[0021] Obtain the cross-sectional parameters and printing speed of a single-pass printed sample;

[0022] The fiber feed rate and the resin feed rate are determined based on the cross-sectional parameters and the printing speed.

[0023] The step of using the multi-axis robotic arm to drive an end-effector located at the end of the multi-axis robotic arm to print the target material on the printing substrate includes:

[0024] The target material is printed on the printing substrate according to the feed rate of the fiber and the feed rate of the resin.

[0025] Optionally, the method further includes: obtaining a fiber correction coefficient, correcting the fiber feed rate according to the fiber correction coefficient, and printing the fiber according to the modified fiber feed rate.

[0026] The step of using the multi-axis robotic arm to drive an end-printing tool located at the end of the multi-axis robotic arm to print target material on the printing substrate includes: printing the fibers according to the modified fiber feed rate;

[0027] And / or,

[0028] The method further includes: obtaining a resin correction coefficient, and correcting the resin feed rate based on the resin correction coefficient.

[0029] The step of using the multi-axis robotic arm to drive an end-printing tool located at the end of the multi-axis robotic arm to print the target material on the printing substrate includes: printing the resin according to the modified resin feed rate.

[0030] Optionally, the modified fiber feed rate is less than or equal to the original fiber feed rate, and the modified resin feed rate is greater than or equal to the original resin feed rate.

[0031] Optionally, before obtaining the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the method further includes:

[0032] Obtain the first pose transformation relationship, which is the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the end of the robotic arm;

[0033] Obtain a second pose transformation relationship, which is the pose transformation relationship between the coordinate system of the end effector of the robotic arm and the coordinate system of the robotic arm base;

[0034] Based on the first pose transformation relationship and the second pose transformation relationship, the pose transformation relationship of the coordinate system of the end-effector printing tool relative to the coordinate system of the robotic arm base is determined;

[0035] Based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, the pose transformation relationship between the coordinate system of the printing base and the coordinate system of the robotic arm base is determined.

[0036] Optionally, before obtaining the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the method further includes:

[0037] The pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base is stored.

[0038] Optionally, obtaining the first pose transformation relationship includes:

[0039] The multi-axis robotic arm drives the end-effector printing tool to make at least two contacts with the same reference point on the printing substrate in different postures.

[0040] Obtain the pose transformation relationship between the coordinate system of the end effector of the robotic arm and the coordinate system of the robotic arm base at each contact;

[0041] Based on the pose transformation relationship between the coordinate system of the robotic arm end effector and the robotic arm base during the at least two contacts, calculate the position vector of the coordinate system of the end-printing tool relative to the coordinate system of the robotic arm end effector.

[0042] Optionally, obtaining the first pose transformation relationship includes:

[0043] Three feature points are determined on the end printing tool, and the positional relationship of any two of the three feature points in the coordinate system of the end printing tool is determined, wherein the three feature points are not on the same straight line;

[0044] The multi-axis robotic arm drives the end-effector printing tool so that the three feature points on the end-effector printing tool sequentially contact the corresponding reference points on the printing substrate.

[0045] The pose transformation relationship of the robotic arm end relative to the robotic arm base is obtained when each feature point of the end-printing tool contacts the corresponding reference point;

[0046] Based on the positional relationship between any two of the three feature points in the coordinate system of the end-effector printing tool, and the pose transformation relationship of the end of the robotic arm relative to the robotic arm base when each of the feature points of the end-effector printing tool contacts the corresponding reference point, calculate the rotation matrix of the coordinate system of the end-effector printing tool relative to the coordinate system of the end of the robotic arm.

[0047] Optionally, obtaining the pose transformation relationship of the printing substrate's coordinate system relative to the robot arm base's coordinate system based on the pose of the end-effector's coordinate system relative to the robot arm base's coordinate system includes:

[0048] Three feature points are determined on the printing substrate, and the positional relationship of any two of the three feature points in the coordinate system of the printing substrate is defined, wherein the three feature points are not on the same straight line;

[0049] The multi-axis robotic arm drives the end-effector printing tool to contact the three feature points respectively;

[0050] The pose transformation relationship of the robotic arm end relative to the robotic arm base is obtained when the end printing tool comes into contact with each of the feature points;

[0051] Based on the positional relationship of any two of the three feature points in the coordinate system of the printing substrate, and the pose transformation relationship of the end of the robotic arm relative to the robotic arm base when the end printing tool contacts each of the feature points, the pose transformation relationship of the coordinate system of the printing substrate relative to the coordinate system of the robotic arm base is determined.

[0052] Optionally, the three feature points are located at the origin of the coordinate system of the printing substrate, on the X-axis of the coordinate system of the printing substrate, and on the XY plane of the coordinate system of the printing substrate, respectively.

[0053] Secondly, this application provides an additive manufacturing apparatus, comprising:

[0054] The first acquisition module is used to acquire the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, wherein the robotic arm base is used to fix the multi-axis robotic arm.

[0055] The second acquisition module is used to acquire the three-dimensional filling path of the target structure;

[0056] The conversion module is used to convert the three-dimensional filling path into a machine motion trajectory based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base.

[0057] The printing module is used to print target material on the printing substrate by using the multi-axis robotic arm to drive the end-effector located at the end of the multi-axis robotic arm, according to the machine's motion trajectory.

[0058] Thirdly, this application provides an additive manufacturing apparatus, including a memory and a processor, wherein the memory stores executable code, and when the executable code is processed by the processor, the processor can execute any of the methods described above.

[0059] Fourthly, this application provides a computer-readable storage medium storing executable code, which, when executed by a processor of an additive manufacturing apparatus, causes the additive manufacturing apparatus to perform any of the methods described above.

[0060] In the additive manufacturing method of this application embodiment, a three-dimensional filling path of the target structure is obtained, and a multi-axis robotic arm drives an end-printing tool located at the end of the multi-axis robotic arm to print the target material on the printing substrate. With the help of its multi-degree-of-freedom motion, three-dimensional features, such as non-planar features, can be directly formed. Moreover, by transforming the three-dimensional filling path to the coordinate system of the robotic arm base through the pose transformation relationship of the coordinate system of the printing substrate relative to the coordinate system of the robotic arm base, the machine motion trajectory can be uniformly described, and the robotic arm can achieve precise control of the printing pose. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of one embodiment of the additive manufacturing method of this application;

[0062] Figure 2 This is a partial structural schematic diagram of one embodiment of the additive manufacturing equipment of this application;

[0063] Figure 3 This is a schematic diagram of one embodiment of the calibration method for additive manufacturing equipment in this application;

[0064] Figure 4 This is a schematic diagram of one embodiment of the path planning device of this application;

[0065] Figure 5 This is a schematic diagram of one embodiment of the path planning device of this application. Detailed Implementation

[0066] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0067] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0068] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0069] like Figure 1 As shown, Figure 1 This is a schematic diagram of one embodiment of the additive manufacturing method of this application. The additive manufacturing method includes:

[0070] Step S101: Obtain the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, wherein the robotic arm base is used to fix the multi-axis robotic arm.

[0071] like Figure 2 As shown, Figure 2This is a partial structural schematic diagram of an embodiment of the additive manufacturing equipment of this application. The additive manufacturing equipment 10 includes a robotic arm base 11, a robotic arm 12 fixed to the robotic arm base 11, and an end-effector printing tool 13 disposed at the end of the robotic arm 121. In one example, the additive manufacturing equipment also includes a printing substrate 14 located within the working space of the robotic arm 12. The robotic arm 12 is used to drive the end-effector printing tool 13 to print material on the printing substrate 14. Optionally, the printing substrate can be removed or replaced from the additive manufacturing equipment. Alternatively, the printing substrate can be fixed in the additive manufacturing equipment and cannot be removed or replaced. The position of the printing substrate in the additive manufacturing equipment can be fixed or movable, and is not limited herein.

[0072] In one example, the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base can be pre-calibrated and stored in the additive manufacturing equipment. The pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base can be obtained by reading this stored calibration data. Alternatively, the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base can be obtained in real time using a calibration method each time the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base is obtained.

[0073] Step S102: Obtain the three-dimensional filling path of the target structure.

[0074] Optionally, the 3D infill path can be planned by other equipment and sent to the additive manufacturing equipment. Alternatively, multiple printing slices can be generated based on the structural parameters of the target structure, and an infill path can be planned on each printing slice. Optionally, the printing slice is a 3D printing surface, and the infill path is a 3D infill path on the 3D printing surface.

[0075] For a specific printing task, a 3D filling path can be generated using various path planning methods. Optionally, after obtaining the 3D printing surface, it can be mapped onto a 2D plane. After obtaining the 2D filling path on the 2D plane, this 2D filling path can be mapped back onto the 3D printing surface to obtain the 3D filling path. This reduces the complexity and difficulty of planning the 3D filling path. Optionally, the 3D printing surface can be mapped onto a 2D plane using equidistant mapping or commonality mapping for 2D filling path planning.

[0076] Step S103: Based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the three-dimensional filling path is converted into a machine motion trajectory.

[0077] The 3D infill path is represented in the coordinate system of the printing substrate, therefore it needs to be converted into a machine motion trajectory in the coordinate system of the robotic arm base. In one example, the 3D infill path includes a first printing path representation, which includes the 3D coordinates and normal vectors of multiple discrete path points in the coordinate system of the printing substrate.

[0078] There are several methods for converting 3D filling paths into machine motion trajectories. In one example, the pose transformation relationship between the coordinate system of the end effector printing tool and the coordinate system of the robotic arm base is obtained, as well as the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base. These pose transformation relationships can be pre-calibrated and stored using a calibration method, and then retrieved by reading the stored calibration data. Alternatively, they can be obtained through real-time calibration.

[0079] Based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, the first printing path representation is converted into a second printing path representation in the coordinate system of the end-effector printing tool. Specifically, to guide the movement of the robotic arm, the generated first printing path representation needs to be converted into a series of ordered poses in the coordinate system of the end-effector printing tool, i.e., the position and orientation of the end-effector printing tool. Simultaneously, during the printing process, the Zi axis of the end-effector printing tool when printing the i-th discrete point is forced to align with the normal vector of that discrete path point. Therefore, the trajectory generation process of the robotic arm is to construct a series of pose descriptions of the coordinate system of the end-effector printing tool relative to the coordinate system of the robotic arm base, using the discrete point as the origin and the normalized normal vector as the Zi axis. As for the Xi and Yi axes of the end-effector printing tool's coordinate system when printing the i-th discrete point, any two orthogonal vectors on the Zi axis normal can be selected. This is because the nozzle tip is circular, and its rotation around the Z-axis has little effect on the deposition of any single-track trajectory.

[0080] Based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the second printing path representation is converted into a machine motion trajectory in the coordinate system of the robotic arm base. Optionally, the projection vector of the X-axis vector of the printing substrate coordinate system onto the normal plane corresponding to the Z-axis vector of the end-effector printing tool coordinate system is elemented to create the Xi-axis vector of the end-effector printing tool coordinate system. The Yi-axis vector is calculated by the cross product of the Zi and Xi-axis vectors. Therefore, the transformation matrix of the end-effector printing tool coordinate system relative to the coordinate system of the printing substrate is constructed from three calculated axis vectors and discrete point coordinates, abbreviated as:

[0081]

[0082] Where i represents the data of the i-th discrete path point. Then, the constructed TCF pose is further transformed into the robot arm's base coordinate system, and the transformation matrix is ​​shown below:

[0083]

[0084] Where B represents the robotic arm base, T represents the end effector printing tool, and S represents the printing substrate.

[0085] Step S104: According to the machine's motion trajectory, the multi-axis robotic arm drives the end-printing tool located at the end of the multi-axis robotic arm to print the target material on the printing substrate.

[0086] Optionally, the additive manufacturing equipment further converts the 3D printing path, which is transformed into the coordinate system of the robotic arm base, into machine-readable code. This machine-readable code may include the robotic arm trajectory and the printing material feed rate. Optionally, some key design parameters that significantly affect print quality are adjustable, such as layer thickness, single-pass width, infill path pattern, and printing speed. Finally, after being converted into machine-readable code, this code is distributed as needed to the coordinate systems of the robotic arm and the end effector, achieving high-quality printing through the effective cooperation of these two modules.

[0087] The machine's motion trajectory generates machine code, which is parsed and distributed to the corresponding module controllers at regular intervals. Optionally, during the operation of the additive manufacturing equipment, the set temperature data is first sent to the co-extrusion controller via serial communication. The built-in PID control program controls the nozzle heating to the specified temperature by controlling the on / off frequency of the heating rod. Then, the control commands for the corresponding robotic arm movement are sent to the robotic arm controller via Ethernet, and the robotic arm end-effector speed is output to the host computer at regular intervals to calculate the composite material feed rate. The calculated composite material feed rate is sent to the co-extrusion end via serial communication to update the motor speed in real time, achieving a match between the printing speed and the material feed rate. After each sub-path is printed, the robotic arm and material feed module stop moving, and the host computer sends a fiber shearing command to drive the servo motor to cut the fibers. When all paths are printed, the host computer sends a termination command to stop nozzle heating and move the robotic arm to a safe position, whereby the user can remove the printed part.

[0088] In the additive manufacturing method of this application embodiment, a three-dimensional filling path of the target structure is obtained, and a multi-axis robotic arm drives an end-printing tool located at the end of the multi-axis robotic arm to print the target material on the printing substrate. With the help of its multi-degree-of-freedom motion, non-planar features can be directly formed. Moreover, by transforming the three-dimensional filling path to the coordinate system of the robotic arm base through the pose transformation relationship of the coordinate system of the printing substrate relative to the coordinate system of the robotic arm base, the machine motion trajectory can be uniformly described, and the robotic arm can achieve precise control of the printing pose.

[0089] In one example, the robotic arm is a UR10e robotic arm, and the transformation matrix typically needs to be represented using the rotational adaptation method, i.e., a more concise vector form x,y,z,r. x ,r y ,r z ], where [x,y,z] are the coordinates of discrete points, [r x ,r y ,r z The symbol θ represents the rotation vector. Furthermore, for motion control based on joint vectors θ = [θ1, θ2, ..., θ6], inverse kinematics is required to convert the given TCF pose into six joint rotation angles. The inverse kinematics problem can be solved analytically or numerically using the robotic arm kinematic chain model, i.e., the DH parameters.

[0090] To produce high-quality parts, the material extrusion rate and the movement of the robotic arm need to be precisely synchronized. More specifically, the matching relationship between the robotic arm kinematics and the deposition process parameters along the CFRP-AM printing path needs to be modeled and precisely controlled. Optionally, the target material includes fibers and resin; in the additive manufacturing method of this application, the cross-sectional parameters and printing speed of a single-pass printed sample are also obtained; the fiber feed rate and resin feed rate are determined based on the cross-sectional parameters and the printing speed. When the target material is printed on the printing substrate using the multi-axis robotic arm driving the end-effector located at the end of the multi-axis robotic arm, the target material is printed on the printing substrate according to the fiber feed rate and the resin feed rate. For example, the cross-section of the single-pass printed sample can be observed using a scanning electron microscope (SEM). The cross-section of the manufactured single-pass sample can be represented as a rounded rectangle with a semi-enclosed fiber bundle. Alternatively, the cross-sectional morphology can be described using the single-layer thickness (h) and the single-pass width (w).

[0091] Parameters E1 and E2 represent the feed rate of the fiber and resin filament, i.e., the length of filament fed into the print head per unit time. At a given print speed (v), E1 has a significant impact on the collimation and prestress of the deposited fibers, thus affecting the overall mechanical properties of the printed part. Therefore, optionally, in the additive manufacturing method of this application, a fiber correction coefficient is also obtained, the fiber feed rate is corrected according to the fiber correction coefficient, and the fibers are printed according to the modified fiber feed rate. Optionally, the fiber correction coefficient is less than or equal to 1, such that the corrected fiber feed rate is less than or equal to the original fiber feed rate. In one example, the fiber correction coefficient is set to 0.95-1.0.

[0092] Optionally, a resin correction factor is also obtained, and the resin feed rate is corrected according to the resin correction factor. The resin is then printed according to the modified resin feed rate. Optionally, the resin correction factor is greater than or equal to 1, such that the corrected resin feed rate is greater than or equal to the original resin feed rate. This is because gap regions can be found in the printed part in multi-layer, multi-pass deposition models. In this study, k2 is typically set to 1.0-1.15 to reduce voids. Fewer voids often help improve mechanical properties, but excessively large parameter settings can lead to excessive resin buildup, which is detrimental to the surface quality of the part.

[0093] Based on the principle of volume conservation, the quantitative relationship between the feed rate and printing speed of composite materials is expressed as follows:

[0094]

[0095] Among them, printing speed v, single layer thickness h, single bead width w, and resin wire diameter d pThe correction coefficients k1 and k2 can be set by the user. Furthermore, the material feed rate needs to be converted into a control pulse frequency to control the motor rotation speed.

[0096] In a specific example, the additive manufacturing equipment comprises four main modules: a control host, a six-axis robotic arm motion module, a fiber-resin co-extrusion printing end, and replaceable prefabricated freeform substrates. The control host is primarily used for pre-process planning and motion control. Specifically, it first outputs machine execution files through a process planning algorithm, then sends corresponding motion control commands to the controllers of the robotic arm and the co-extrusion end, enabling their cooperation to complete the composite structure manufacturing. The six-axis robotic arm motion module enables multi-degree-of-freedom motion of the system. Its high degree of motion flexibility offers significant advantages in avoiding collisions and singularities, and can be used to improve the smoothness of the printing path. Optionally, the six-axis robotic arm is mounted on an optically isolated platform with a spherical working space radius of 1300 mm centered on the robotic arm base, and an effective end-effector load of 10 kg. Furthermore, the robotic arm has a repeatability accuracy of ±0.05 mm, and the maximum speed at the center point of the end-effector printing tool is 1000 mm / s. The fiber-resin co-extrusion printing module is fixed to the coordinate system at the end of the robotic arm and includes a fiber feeding device, resin extruder, fiber shearing device, co-extrusion nozzle, and temperature control device. This printing end is internally designed and developed, particularly optimizing the internal flow channel of the co-extrusion nozzle based on thermal-fluid field coupling simulation results to improve the fiber impregnation effect inside the melt chamber. The nozzle outlet diameter is 1mm and rounded to achieve ironing and pressing after material extrusion and avoid fiber breakage. The maximum heating temperature of the nozzle is 300℃, which meets the applicable requirements of most thermoplastic engineering plastics. The freeform substrate provides an adhesion base for the first layer of composite material to ensure high printing quality. However, it cannot be installed too close to the edge of the robotic arm's workspace, as this would increase the possibility of the robotic arm reaching its joint limits. Furthermore, this substrate can be manufactured using various processes and is reusable.

[0097] During the printing process, the end effector prints sequentially across multiple slice layers. The gap between the tip of the end effector and the previous slice layer is a crucial factor affecting print quality. Therefore, the position and orientation of the end effector and the printing substrate within the robotic arm's coordinate system can be precisely calibrated to ensure accurate and uniform gaps across each printed slice layer.

[0098] Optionally, the calibration method is used to calibrate the position and orientation of the end-effector's coordinate system and the printing substrate's coordinate system relative to the robot arm's base coordinate system, respectively, to ensure good print quality. Specifically, such as... Figure 2As shown, the calibration process is a mathematical description of the pose relationship between the coordinate system of the printing base (Substrate Frame, SF) and the center coordinate system of the end-effector (Tool Center Frame, TCF) relative to the coordinate system of the robot arm base (Base Frame, BF). In the calibration method of this application, in addition to these three coordinate systems, the coordinate system of the robot arm end effector (End Frame, EF) is also introduced to assist in the calibration.

[0099] Optionally, the robotic arm is a six-axis robotic arm. Optionally, the coordinate system of the end-effector printing tool is used to print continuous fiber-reinforced composite materials on the coordinate system of the printing substrate. Optionally, the coordinate system of the end-effector printing tool is a fiber-resin co-extrusion printing nozzle. Optionally, the coordinate system of the printing substrate is replaceable. Optionally, the coordinate system of the printing substrate is a prefabricated freeform substrate. The following is in conjunction with... Figure 3 The calibration method of this application is illustrated with an example. For example... Figure 3 As shown, Figure 3 This is a schematic diagram of one embodiment of the calibration method for additive manufacturing equipment according to this application. The calibration method includes:

[0100] Step S301: Obtain the first pose transformation relationship, which is the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the end of the robotic arm.

[0101] The pose of the end-effector's coordinate system relative to the robotic arm's end effector represents the position and orientation of the TCF (Transmission Control Function) relative to the EF (Earth Extremum). In mathematical models, this pose transformation relationship is typically represented by a transformation matrix, i.e.:

[0102]

[0103] Where R is the rotation matrix and P is the translation vector. Let E represent the coordinate system of the robotic arm's end effector and T represent the coordinate system of the end-printing tool. Then the transformation matrix... This describes the pose of the end-effector's coordinate system relative to the robotic arm's end-effector coordinate system, and this pose includes a rotation matrix. and position vector E P T .

[0104] In one example, a robotic arm can drive its end effector, which in turn drives an end-printing tool to make at least two contacts with the same reference point on the printing substrate in different postures. The pose transformation relationship of the coordinate system of the robotic arm end effector relative to the coordinate system of the robotic arm base is obtained at each contact. Based on the pose transformation relationship of the coordinate system of the robotic arm end effector relative to the coordinate system of the robotic arm base in the at least two contacts, the position vector of the coordinate system of the end-printing tool relative to the coordinate system of the robotic arm end effector is calculated.

[0105] For example, a cone-shaped reference object is fixed at a suitable position in the workspace of the robotic arm, with the tip of the cone-shaped reference object serving as a reference point. Optionally, the position of the cone-shaped reference object is far from the edge of the robotic arm's workspace. Then, the robotic arm is controlled to move the end-effector printing tool such that its center (e.g., the center of the end-effector nozzle) contacts the tip of the cone-shaped reference object multiple times, for example, at least four times, in different orientations. At the i-th contact during these multiple contacts, the rotation matrix is ​​obtained. and position vector B P Ei Where B refers to the coordinate system of the robotic arm base, which can be understood as... and B P Ei satisfy:

[0106]

[0107] Because the tip of the cone-shaped reference object remains stationary during the contact process, and the robotic arm base also remains stationary, therefore, each contact... B P Ti The position vector of the end-effector's coordinate system relative to the end-effector's coordinate system remains unchanged. E P T =(x,y,z) remains unchanged. Therefore, by subtracting the above formula (1) obtained at any two contacts, and then combining these equations, we obtain the linear equation system A*. E P T =B. For this system of equations, by using the linear least squares method, the best fit can be obtained for the position vector of the end-effector's coordinate system relative to the robot arm's end-effector coordinate system, that is:

[0108] E P T =(A T A) -1 A T B

[0109] Rotation matrix of the end-effector's coordinate system relative to the robot arm's end effector coordinate system This can be obtained directly from the mechanical design model. Alternatively, a more precise method is to set feature points related to the coordinate system on the end-effector's coordinate system and use the known positional relationships of these feature points to obtain the rotation matrix of the end-effector's coordinate system relative to the robot arm's end effector's coordinate system.

[0110] Specifically, three feature points are determined on the end-effector printing tool, and the positional relationship of any two of these feature points in the coordinate system of the end-effector printing tool is defined. The three feature points are not collinear. The multi-axis robotic arm drives the end-effector printing tool, causing the three feature points on the end-effector printing tool to sequentially contact corresponding preset reference points on the printing substrate. The pose transformation relationship of the robotic arm end-effector relative to the robotic arm base is obtained when each feature point of the end-effector printing tool contacts its corresponding preset reference point. Based on the positional relationship of any two of the three feature points in the coordinate system of the end-effector printing tool, and the pose transformation relationship of the robotic arm end-effector relative to the robotic arm base when each feature point of the end-effector printing tool contacts its corresponding preset reference point, the rotation matrix of the coordinate system of the end-effector printing tool relative to the coordinate system of the robotic arm end-effector is calculated. The preset reference points corresponding to the three feature points can be the same preset reference point or different preset reference points.

[0111] The three feature points determined on the end-printing tool can be the origin of the coordinate system of the end-printing tool, any point on one of its axes, and any point on the plane containing that axis. For example, the three feature points determined on the end-printing tool can be the origin of the coordinate system of the end-printing tool, a point on the X-axis or Y-axis, and a point on the XY plane.

[0112] Step S302: Obtain the second pose transformation relationship, which is the pose transformation relationship between the coordinate system of the end effector of the robotic arm and the coordinate system of the robotic arm base.

[0113] Optionally, B refers to the robotic arm base, and E refers to the robotic arm end effector, and the transformation matrix... Describes the pose of the robotic arm's end effector relative to the target robotic arm, including the rotation matrix. and position vector B P E Transformation matrix It can be calculated from the positive kinematics model built into the robotic arm controller.

[0114] Step S303: Based on the first pose transformation relationship and the second pose transformation relationship, obtain the pose transformation relationship of the coordinate system of the end-effector printing tool relative to the coordinate system of the robotic arm base.

[0115] Transformation matrix of the coordinate system of the end-effector printing tool relative to the coordinate system of the robotic arm base. It can be represented as

[0116]

[0117] Wherein, the transformation matrix This describes the pose of the robotic arm's end effector relative to the coordinate system of the robotic arm's base, and this pose includes a rotation matrix. and position vector B P E .

[0118] Step S304: Based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, obtain the pose transformation relationship between the coordinate system of the printing base and the coordinate system of the robotic arm base.

[0119] Specifically, three feature points are designed on the coordinate system of the printing substrate for auxiliary calibration. For example, these three feature points are the origin P0 in the coordinate system of the printing substrate, the offset point P1 on the X-axis, and an arbitrary point P2 on the XY plane. The position vectors of these feature points relative to the coordinate system of the robotic arm base are measured by moving the robotic arm to contact the center point of the end-effector printing tool (e.g., the center point of the co-extrusion nozzle). Then, by combining the known positional relationships between the feature points, the transformation matrix of the end-effector printing tool's coordinate system relative to the coordinate system of the printing substrate is quickly constructed.

[0120] In one example, the position vector from feature point P0 to P1, when normalized, becomes the X-axis vector. The Y-axis vector is obtained by first calculating the position vector from P0 to P2, then calculating and normalizing the projection of this vector onto the normal plane corresponding to the X-axis vector. Finally, the Z-axis vector is calculated as the vector product of the X-axis and Y-axis vectors. Therefore, the transformation matrix is ​​constructed. for:

[0121]

[0122] Where X, Y, and Z are the X-axis, Y-axis, and Z-axis vectors described in the coordinate system of the robotic arm base, respectively, and P0 is the coordinate of the origin of the printing base's coordinate system relative to the coordinate system of the robotic arm base. Optionally, the robotic arm can be controlled to drive the end-effector printing tool to take multiple measurements at each feature point location to reduce errors.

[0123] In this embodiment, by obtaining the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the end-effector of the robotic arm, and the pose transformation relationship between the coordinate system of the end-effector of the robotic arm and the coordinate system of the robotic arm base, the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, as well as the pose transformation relationship between the coordinate system of the printing base and the coordinate system of the robotic arm base, can be calibrated. This facilitates the subsequent conversion of the planned printing path to the coordinate system of the robotic arm base after obtaining the planned printing path, thereby ensuring good printing quality.

[0124] The pose transformation relationships obtained from the calibration of the end-effector's coordinate system relative to the robotic arm base's coordinate system, and the pose transformation relationships of the printing substrate's coordinate system relative to the robotic arm base's coordinate system, can be stored and reused. This calibration method can be performed when replacing or repairing a module in the additive manufacturing equipment. Alternatively, the calibration method can be performed before each printing task; no limitation is imposed here.

[0125] This application also provides an additive manufacturing apparatus, such as Figure 4 As shown, Figure 4 This is a schematic diagram of one embodiment of the path planning apparatus of this application. The additive manufacturing apparatus 400 includes:

[0126] The first acquisition module 401 is used to acquire the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, wherein the robotic arm base is used to fix the multi-axis robotic arm.

[0127] The second acquisition module 402 is used to acquire the three-dimensional filling path of the target structure;

[0128] The conversion module 403 is used to convert the three-dimensional filling path into a machine motion trajectory based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base.

[0129] The printing module 404 is used to print target material on the printing substrate by using the multi-axis robotic arm to drive the end printing tool located at the end of the multi-axis robotic arm according to the machine's motion trajectory.

[0130] Optionally, the three-dimensional filling path includes a first printing path representation, which includes the three-dimensional coordinates of multiple discrete path points in the coordinate system of the printing substrate and a normal vector;

[0131] The conversion module 403 is specifically used for:

[0132] Obtain the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robot arm base of the multi-axis robot arm;

[0133] Based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, the first printing path representation is converted into a second printing path representation in the coordinate system of the end-effector printing tool.

[0134] Based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the second printing path representation is converted into a machine motion trajectory in the coordinate system of the robotic arm base.

[0135] Optionally, when the conversion module 403 converts the first printing path representation into a second printing path representation in the coordinate system of the end-effector printing tool according to the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, it is specifically used for:

[0136] Using the i-th discrete path point in the first printing path representation as the origin and the normalized normal vector as the Z-axis of the coordinate system of the end printing tool, the pose of the i-th discrete path point in the coordinate system of the end printing tool is constructed, and the second printing path representation includes the pose of each discrete path point in the coordinate system of the end printing tool.

[0137] Optionally, the target material includes a continuous fiber reinforced composite material.

[0138] Optionally, the target material includes fibers and resins, and the device 400 further includes:

[0139] The third acquisition module is used to acquire the cross-sectional parameters and printing speed of a single-pass printed sample;

[0140] The first determining module is used to determine the fiber feed rate and the resin feed rate based on the cross-sectional parameters and the printing speed.

[0141] The printing module 404 is specifically used to print the target material on the printing substrate according to the fiber feed rate and the resin feed rate.

[0142] Optionally, the device 400 further includes:

[0143] The fourth acquisition module is used to acquire a fiber correction coefficient, correct the fiber feed rate according to the fiber correction coefficient, and print the fiber according to the modified fiber feed rate; and / or,

[0144] The fifth acquisition module is used to acquire the resin correction coefficient, correct the resin feed rate according to the resin correction coefficient, and print the resin according to the modified resin feed rate.

[0145] Optionally, the modified fiber feed rate is less than or equal to the original fiber feed rate, and the modified resin feed rate is greater than or equal to the original resin feed rate.

[0146] Optionally, the device 400 further includes:

[0147] The calibration module is used before obtaining the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base:

[0148] Obtain the first pose transformation relationship, which is the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the end of the robotic arm;

[0149] Obtain a second pose transformation relationship, which is the pose transformation relationship between the coordinate system of the end effector of the robotic arm and the coordinate system of the robotic arm base;

[0150] Based on the first pose transformation relationship and the second pose transformation relationship, the pose transformation relationship of the coordinate system of the end-effector printing tool relative to the coordinate system of the robotic arm base is determined;

[0151] Based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, the pose transformation relationship between the coordinate system of the printing base and the coordinate system of the robotic arm base is determined.

[0152] Optionally, the device 400 further includes:

[0153] The storage module is used to store the pose transformation relationship of the coordinate system of the printing substrate relative to the coordinate system of the robotic arm base before obtaining the pose transformation relationship of the coordinate system of the printing substrate relative to the coordinate system of the robotic arm base.

[0154] Optionally, when obtaining the first pose transformation relationship, the calibration module is specifically used for:

[0155] The multi-axis robotic arm drives the end-effector printing tool to make at least two contacts with the same reference point on the printing substrate in different postures.

[0156] Obtain the pose transformation relationship between the coordinate system of the end effector of the robotic arm and the coordinate system of the robotic arm base at each contact;

[0157] Based on the pose transformation relationship between the coordinate system of the robotic arm end effector and the robotic arm base during the at least two contacts, calculate the position vector of the coordinate system of the end-printing tool relative to the coordinate system of the robotic arm end effector.

[0158] Optionally, when obtaining the first pose transformation relationship, the calibration module is further used to:

[0159] Three feature points are determined on the end printing tool, and the positional relationship of any two of the three feature points in the coordinate system of the end printing tool is determined, wherein the three feature points are not on the same straight line;

[0160] The multi-axis robotic arm drives the end-effector printing tool so that the three feature points on the end-effector printing tool sequentially contact the corresponding reference points on the printing substrate.

[0161] The pose transformation relationship of the robotic arm end relative to the robotic arm base is obtained when each feature point of the end-printing tool contacts the corresponding reference point;

[0162] Based on the positional relationship between any two of the three feature points in the coordinate system of the end-effector printing tool, and the pose transformation relationship of the end of the robotic arm relative to the robotic arm base when each of the feature points of the end-effector printing tool contacts the corresponding reference point, calculate the rotation matrix of the coordinate system of the end-effector printing tool relative to the coordinate system of the end of the robotic arm.

[0163] Optionally, obtaining the pose transformation relationship of the printing substrate's coordinate system relative to the robot arm base's coordinate system based on the pose of the end-effector's coordinate system relative to the robot arm base's coordinate system includes:

[0164] Three feature points are determined on the printing substrate, and the positional relationship of any two of the three feature points in the coordinate system of the printing substrate is defined, wherein the three feature points are not on the same straight line;

[0165] The multi-axis robotic arm drives the end-effector printing tool to contact the three feature points respectively;

[0166] The pose transformation relationship of the robotic arm end relative to the robotic arm base is obtained when the end printing tool comes into contact with each of the feature points;

[0167] Based on the positional relationship of any two of the three feature points in the coordinate system of the printing substrate, and the pose transformation relationship of the end of the robotic arm relative to the robotic arm base when the end printing tool contacts each of the feature points, the pose transformation relationship of the coordinate system of the printing substrate relative to the coordinate system of the robotic arm base is determined.

[0168] Optionally, the three feature points are located at the origin of the coordinate system of the printing substrate, on the X-axis of the coordinate system of the printing substrate, and on the XY plane of the coordinate system of the printing substrate, respectively.

[0169] This application also provides an additive manufacturing apparatus, such as Figure 5 As shown, Figure 5 This is a schematic diagram of one embodiment of the path planning device of this application. The additive manufacturing device 500 includes a processor 1701 and a memory 502. The memory 502 stores executable code. When the executable code is executed by the processor 501, the processor 501 performs any of the above-described additive manufacturing methods.

[0170] Optionally, the additive manufacturing equipment also includes a multi-axis robotic arm fixed to a robotic arm base, and an end-printing tool located at the end of the multi-axis robotic arm; the multi-axis robotic arm is used to drive the end-printing tool to print target material on a printing substrate.

[0171] Alternatively, this application may be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) storing executable code (or computer program or computer instruction code) that, when executed by a processor of an electronic device (e.g., additive manufacturing equipment), causes the processor to perform some or all of the steps of the methods described above according to this application.

[0172] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An additive manufacturing method, characterized in that, include: Obtain the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, wherein the robotic arm base is used to fix the multi-axis robotic arm; Obtain the 3D filling path of the target structure; Based on the pose transformation relationship between the coordinate system of the printed substrate and the coordinate system of the robotic arm base, the three-dimensional filling path is converted into a machine motion trajectory; According to the machine's motion trajectory, the multi-axis robotic arm drives the end-printing tool located at the end of the multi-axis robotic arm to print the target material on the printing substrate; The three-dimensional filling path includes a first printing path representation, which includes the three-dimensional coordinates of multiple discrete path points in the coordinate system of the printing substrate and a normal vector. The step of converting the three-dimensional filling path into a machine motion trajectory based on the pose transformation relationship between the coordinate system of the printed substrate and the coordinate system of the robotic arm base includes: Obtain the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robot arm base of the multi-axis robot arm; Based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, the first printing path representation is converted into a second printing path representation in the coordinate system of the end-effector printing tool. Based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the second printing path representation is converted into a machine motion trajectory in the coordinate system of the robotic arm base.

2. The method according to claim 1, characterized in that, The step of converting the first printing path representation into a second printing path representation in the coordinate system of the end-effector printing tool based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base includes: Using the i-th discrete path point in the first printing path representation as the origin and the normalized normal vector as the Z-axis of the coordinate system of the end printing tool, the pose of the i-th discrete path point in the coordinate system of the end printing tool is constructed, and the second printing path representation includes the pose of each discrete path point in the coordinate system of the end printing tool.

3. The method according to claim 1, characterized in that, The target material includes continuous fiber reinforced composite materials.

4. The method according to claim 3, characterized in that, The target material includes fibers and resins, and the method further includes: Obtain the cross-sectional parameters and printing speed of a single-pass printed sample; The fiber feed rate and the resin feed rate are determined based on the cross-sectional parameters and the printing speed. The step of using the multi-axis robotic arm to drive an end-effector located at the end of the multi-axis robotic arm to print the target material on the printing substrate includes: The target material is printed on the printing substrate according to the feed rate of the fiber and the feed rate of the resin.

5. The method according to claim 4, characterized in that, The method further includes: obtaining a fiber correction coefficient, and correcting the fiber feed rate based on the fiber correction coefficient. The step of using the multi-axis robotic arm to drive an end-printing tool located at the end of the multi-axis robotic arm to print target material on the printing substrate includes: printing the fibers according to the modified fiber feed rate; And / or, The method further includes: obtaining a resin correction coefficient, and correcting the resin feed rate based on the resin correction coefficient. The step of using the multi-axis robotic arm to drive an end-printing tool located at the end of the multi-axis robotic arm to print the target material on the printing substrate includes: printing the resin according to the modified resin feed rate.

6. The method according to claim 5, characterized in that, The modified fiber feed rate is less than or equal to the original fiber feed rate, and the modified resin feed rate is greater than or equal to the original resin feed rate.

7. The method according to any one of claims 1 to 6, characterized in that, Before obtaining the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the method further includes: Obtain the first pose transformation relationship, which is the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the end of the robotic arm; Obtain a second pose transformation relationship, which is the pose transformation relationship between the coordinate system of the end effector of the robotic arm and the coordinate system of the robotic arm base; Based on the first pose transformation relationship and the second pose transformation relationship, the pose transformation relationship of the coordinate system of the end-effector printing tool relative to the coordinate system of the robotic arm base is determined; Based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, the pose transformation relationship between the coordinate system of the printing base and the coordinate system of the robotic arm base is determined.

8. The method according to claim 7, characterized in that, Before obtaining the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the method further includes: The pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base is stored.

9. The method according to claim 7, characterized in that, The process of obtaining the first pose transformation relationship includes: The multi-axis robotic arm drives the end-effector printing tool to make at least two contacts with the same reference point on the printing substrate in different postures. Obtain the pose transformation relationship between the coordinate system of the end effector of the robotic arm and the coordinate system of the robotic arm base at each contact; Based on the pose transformation relationship between the coordinate system of the robotic arm end effector and the robotic arm base during the at least two contacts, calculate the position vector of the coordinate system of the end-printing tool relative to the coordinate system of the robotic arm end effector.

10. The method according to claim 7, characterized in that, The process of obtaining the first pose transformation relationship includes: Three feature points are determined on the end printing tool, and the positional relationship of any two of the three feature points in the coordinate system of the end printing tool is determined, wherein the three feature points are not on the same straight line; The multi-axis robotic arm drives the end-effector printing tool so that the three feature points on the end-effector printing tool sequentially contact the corresponding preset reference points on the printing substrate. The pose transformation relationship of the robotic arm end relative to the robotic arm base is obtained when each feature point of the end printing tool contacts the corresponding preset reference point; Based on the positional relationship of any two of the three feature points in the coordinate system of the end-effector printing tool, and the pose transformation relationship of the end of the robotic arm relative to the robotic arm base when each of the feature points of the end-effector printing tool contacts the corresponding preset reference point, calculate the rotation matrix of the coordinate system of the end-effector printing tool relative to the coordinate system of the end of the robotic arm.

11. The method according to claim 7, characterized in that, The step of obtaining the pose transformation relationship of the printing base coordinate system relative to the robot arm base coordinate system based on the pose of the end-effector's coordinate system relative to the robot arm base coordinate system includes: Three feature points are determined on the printing substrate, and the positional relationship of any two of the three feature points in the coordinate system of the printing substrate is defined, wherein the three feature points are not on the same straight line; The multi-axis robotic arm drives the end-effector printing tool to contact the three feature points respectively; The pose transformation relationship of the robotic arm end relative to the robotic arm base is obtained when the end printing tool comes into contact with each of the feature points; Based on the positional relationship of any two of the three feature points in the coordinate system of the printing substrate, and the pose transformation relationship of the end of the robotic arm relative to the robotic arm base when the end printing tool contacts each of the feature points, the pose transformation relationship of the coordinate system of the printing substrate relative to the coordinate system of the robotic arm base is determined.

12. An additive manufacturing apparatus, characterized in that, include: The first acquisition module is used to acquire the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, wherein the robotic arm base is used to fix the multi-axis robotic arm. The second acquisition module is used to acquire the three-dimensional filling path of the target structure; The conversion module is used to convert the three-dimensional filling path into a machine motion trajectory based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base. A printing module is used to print target material on a printing substrate by using the multi-axis robotic arm to drive an end-effector located at the end of the multi-axis robotic arm, according to the machine's motion trajectory. The three-dimensional filling path includes a first printing path representation, which includes the three-dimensional coordinates of multiple discrete path points in the coordinate system of the printing substrate and a normal vector. The conversion module, when performing the step of converting the three-dimensional filling path into a machine motion trajectory based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, is used for: Obtain the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robot arm base of the multi-axis robot arm; Based on the pose transformation relationship between the coordinate system of the end-effector printing tool and the coordinate system of the robotic arm base, the first printing path representation is converted into a second printing path representation in the coordinate system of the end-effector printing tool. Based on the pose transformation relationship between the coordinate system of the printing substrate and the coordinate system of the robotic arm base, the second printing path representation is converted into a machine motion trajectory in the coordinate system of the robotic arm base.

13. An additive manufacturing apparatus, characterized in that, It includes a memory and a processor, wherein the memory stores executable code, and when the executable code is processed by the processor, the processor can perform the method of any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The device stores executable code that, when executed by a processor of the additive manufacturing apparatus, causes the additive manufacturing apparatus to perform the method as described in any one of claims 1 to 11.

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