Dual-Robot 3D Printing Apparatus for Complex Shape Coverage
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Solution Overview
Problem
Existing three-dimensional object printing apparatuses face challenges in printing on complex shapes due to limitations in the movement and positioning of print heads relative to the workpiece, leading to inadequate coverage and image quality.
Innovation Solution
A three-dimensional object printing apparatus utilizing two articulated robots, one for holding the workpiece and another for the print head, with a controller that adjusts their positions and postures based on real-time imaging feedback to ensure precise alignment and coverage, allowing for flexible handling of various shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single articulated robot is used to hold the workpiece while the print head moves, then the device complexity is reduced, but the printing coverage and adaptability to complex shapes are insufficient
Solution Approach 1:
The system divides the robotic functions into two separate articulated robots: one dedicated to holding and positioning the workpiece, and another dedicated to holding and positioning the print head. This segmentation allows each robot to independently optimize its motion range and positioning accuracy, enabling comprehensive coverage of complex three-dimensional surfaces that would be inaccessible to a single-robot configuration.
2Manufacturing precision
If the print head is positioned close to the workpiece for high-resolution printing, then image quality improves, but vibration increases and stability decreases
Solution Approach 1:
The system introduces an imaging device as an intermediary to capture the relative position and posture between the print head and workpiece. This imaging feedback enables precise control and compensation of vibrations, allowing the print head to operate at optimal close distances for high-resolution printing while maintaining system stability through active position correction based on real-time imaging data.
3Device complexity
If the workpiece position is fixed for simplified positioning control, then control complexity is reduced, but the ability to print on various shapes is limited
Solution Approach 1:
The system transitions from a static workpiece positioning approach to a dynamic configuration where both the workpiece-holding robot and print head-holding robot can independently adjust their positions and postures. This dynamic capability, controlled through imaging feedback, enables the system to adapt to various workpiece shapes and sizes while maintaining precise printing control, effectively resolving the contradiction between control simplicity and shape adaptability.
Data Source
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AI summary
There is provided a three-dimensional object printing apparatus including a first robot (3) supporting a head (5a) having a nozzle for discharging a liquid and changing a position and a posture of the head, and a second robot (4) supporting a three-dimensional workpiece (W) and changing a position and a posture of the workpiece.