Robotic Additive Manufacturing Path Planning for Collision-Free 3D G-Code
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Solution Overview
Problem
Current additive manufacturing systems struggle to translate 3D g-code models for robots with more than 3 axes of freedom, making it difficult to utilize higher axis systems effectively.
Innovation Solution
A robotic system with a path planner component that generates motion parameters to avoid collision conflicts, allowing for the conversion of 3D computer models into machine-readable code for higher axis systems, including a power source controller that adapts electrical and motion parameters for efficient manufacturing processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If 3D g-code models are translated for higher axis systems (4 or more degrees of freedom), then the adaptability of additive manufacturing systems is improved, but the device complexity increases due to the need for path planning and collision avoidance algorithms
Solution Approach 1:
The system performs preliminary path planning and collision detection before actual manufacturing execution. The offline path planner generates collision-free toolpaths in advance, allowing the robotic system to adapt to higher axis configurations without real-time computational complexity.
Solution Approach 2:
An offline path planning software acts as an intermediary between the 3D model and the robotic controller. This mediator translates and adapts g-code for higher axis systems, isolating the complexity from the actual manufacturing system while maintaining adaptability.
2Reliability
If path planning with collision avoidance is implemented, then manufacturing reliability is improved by avoiding robot collision conflicts, but the loss of time increases due to computational processing requirements
Solution Approach 1:
Collision avoidance computations are performed in advance during offline path planning. By pre-calculating safe toolpaths before manufacturing begins, the system ensures reliability without consuming real-time manufacturing cycles, thus minimizing time loss during actual production.
3Manufacturing precision
If power source controller adapts electrical parameters based on motion parameters, then manufacturing precision is improved through optimized welding parameters, but the device complexity increases due to coordinated control systems
Solution Approach 1:
The power source controller and robot controller are merged into a coordinated system where electrical parameters are automatically adjusted based on motion parameters. This integration enables precise control of welding processes during additive manufacturing without requiring separate manual adjustments.
Solution Approach 2:
The coordinated control system uses feedback from motion parameters to automatically adjust electrical output parameters. The power source controller receives motion data and相应地 adjusts welding current, voltage, and other electrical parameters to maintain manufacturing precision throughout the process.
Data Source
AI summary
Embodiments of robotic systems are disclosed. In one embodiment, a robotic system includes a tool used in a manufacture process on a workpiece, and an arm having an attachment point. The arm moves the tool, in multiple degrees of freedom during the manufacture process. A robot controller controls movement of the arm based on motion parameters to perform the manufacture process via the tool. A path planner component generates the motion parameters used to perform the manufacture process while avoiding robot collision conflicts. The path planner component includes a reach configuration component including data related to physical attributes, motion attributes, kinematics, and limitations of the robotic system. The path planner component also includes a collision avoidance evaluator to, using the reach configuration component, determine if an anticipated robot path results in any robot collision conflicts.