3D Printing Robot Posture Mapping for Curved Workpieces
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Solution Overview
Problem
Existing methods for robot-assisted three-dimensional printing on curved surfaces lack a specific method for creating a three-dimensional path, which hinders high-quality printing on workpieces with complex shapes.
Innovation Solution
A robot teaching method that sets a printing posture based on the positional relationships between fixed and variable positions of nozzle arrays and the workpiece in a virtual space, using a head with multiple nozzle arrays and a robot to adjust relative positions and postures during printing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot is used to perform printing on curved surfaces without a specific three-dimensional path creation method, then the system can handle complex workpiece shapes, but the printing quality deteriorates due to inappropriate robot positioning
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing optimal printing postures in a lookup table before actual printing. The system divides the workpiece surface into multiple regions, determines appropriate printing postures for each region in advance, and stores these postures along with their corresponding three-dimensional coordinates. During printing, the robot simply retrieves the pre-determined posture from the lookup table based on its current position, ensuring high printing quality without real-time calculation delays.
Solution Approach 2:
The patent uses copying by creating a virtual three-dimensional model of the workpiece that mirrors its actual geometry. This virtual model includes surface curvature information and is used to pre-calculate printing postures. The lookup table stores copied posture data that corresponds to different regions of the virtual model, allowing the robot to accurately replicate the optimal printing orientation for each physical region of the workpiece.
2Manufacturing precision
If printing posture is adjusted for each nozzle array position, then printing quality on complex surfaces improves, but the device complexity increases due to multiple positioning requirements
Solution Approach 1:
The patent applies self-service by making the positioning system autonomous through automated posture determination. The system automatically calculates the appropriate printing posture based on the robot's current three-dimensional position and the workpiece geometry, then retrieves the pre-determined posture from the lookup table without requiring manual intervention or complex real-time calculations. This automation simplifies the overall system while maintaining high positioning accuracy.
Solution Approach 2:
The patent uses preliminary action by pre-calculating and storing all necessary printing postures in the lookup table before printing begins. This eliminates the need for complex real-time posture calculation during printing, reducing the computational burden on the control system and simplifying the device architecture while ensuring accurate positioning for each nozzle array position.
3Productivity
If multiple nozzle arrays are used to increase printing efficiency, then productivity improves, but the difficulty of positioning and orienting the head increases
Solution Approach 1:
The patent applies segmentation by dividing the head into multiple independent nozzle arrays, each capable of being positioned and controlled separately. The lookup table stores specific printing postures for each nozzle array position, allowing the control system to manage each array independently. This segmentation simplifies the positioning task by breaking down the complex multi-array positioning problem into manageable individual array positions, each with pre-determined optimal postures.
4Manufacturing precision
If real-time posture adjustment is performed during printing, then printing quality on curved surfaces improves, but the printing speed decreases due to additional calculation time
Solution Approach 1:
The patent resolves this contradiction by performing all posture calculations in advance and storing them in the lookup table. During actual printing, the system only needs to retrieve pre-calculated postures based on the robot's current position, eliminating real-time calculation delays. This preliminary action ensures both high printing quality through accurate posture control and high printing speed through rapid posture retrieval.
Data Source
AI summary
A robot teaching method includes: a printing posture setting step of setting a printing posture that is a relative posture between the head and the workpiece in the printing operation. When a position where a positional relationship with the nozzle surface is fixed is a first position and a position different from the first position where a positional relationship with the nozzle surface is fixed is a third position, the printing posture is set in a virtual space in the printing posture setting step based on a positional relationship between the first position and the workpiece and a positional relationship between the third position and the workpiece.