RoboFDM: A robotic system for support-free fabrication using FDM

Chenming  Wu; Chengkai Dai; Guoxin Fang; Yong-Jin Liu; Charlie Wang

doi:10.1109/ICRA.2017.7989140

RoboFDM: A robotic system for support-free fabrication using FDM

Chenming Wu
, Chengkai Dai
, Guoxin Fang
, Yong-Jin Liu
, Charlie Wang^*

^*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

170 Citations (Scopus)

Abstract

This paper presents a robotic system - RoboFDM that targets at printing 3D models without support-structures, which is considered as the major restriction to the flexibility of 3D printing. The hardware of RoboFDM consists of a robotic arm providing 6-DOF motion to the platform of material accumulation and an extruder forming molten filaments of polylactic acid (PLA). The fabrication of 3D models in this system follows the principle of fused decomposition modeling (FDM). Different from conventional FDM, an input model fabricated by RoboFDM is printed along different directions at different places. A new algorithm is developed to decompose models into support-free parts that can be printed one by one in a collision-free sequence. The printing directions of all parts are also determined during the computation of model decomposition. Experiments have been successfully taken on our RoboFDM system to print general freeform objects in a support-free manner.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Automation (ICRA)
Place of Publication	Danvers
Publisher	IEEE
Pages	1175-1180
Number of pages	6
ISBN (Electronic)	978-1-5090-4633-1
ISBN (Print)	978-1-5090-4634-8
DOIs	https://doi.org/10.1109/ICRA.2017.7989140
Publication status	Published - 2017
Event	2017 IEEE International Conference on Robotics and Automation, ICRA 2017: ICRA 2017 - Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017 http://sssa.bioroboticsinstitute.it/workshops/IC3_icra2017

Conference

Conference	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Abbreviated title	ICRA 2017
Country/Territory	Singapore
City	Singapore
Period	29/05/17 → 3/06/17
Internet address	http://sssa.bioroboticsinstitute.it/workshops/IC3_icra2017

Keywords

Fabrication
Shape
Three-dimensional printing
Manipulators
Frequency division multiplexing

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10.1109/ICRA.2017.7989140

Cite this

@inproceedings{a44442b950c2455c92a92ff1593be08a,

title = "RoboFDM: A robotic system for support-free fabrication using FDM",

abstract = "This paper presents a robotic system - RoboFDM that targets at printing 3D models without support-structures, which is considered as the major restriction to the flexibility of 3D printing. The hardware of RoboFDM consists of a robotic arm providing 6-DOF motion to the platform of material accumulation and an extruder forming molten filaments of polylactic acid (PLA). The fabrication of 3D models in this system follows the principle of fused decomposition modeling (FDM). Different from conventional FDM, an input model fabricated by RoboFDM is printed along different directions at different places. A new algorithm is developed to decompose models into support-free parts that can be printed one by one in a collision-free sequence. The printing directions of all parts are also determined during the computation of model decomposition. Experiments have been successfully taken on our RoboFDM system to print general freeform objects in a support-free manner.",

keywords = "Fabrication, Shape, Three-dimensional printing, Manipulators, Frequency division multiplexing",

author = "Chenming Wu and Chengkai Dai and Guoxin Fang and Yong-Jin Liu and Charlie Wang",

year = "2017",

doi = "10.1109/ICRA.2017.7989140",

language = "English",

isbn = "978-1-5090-4634-8",

pages = "1175--1180",

booktitle = "2017 IEEE International Conference on Robotics and Automation (ICRA)",

publisher = "IEEE",

address = "United States",

note = "2017 IEEE International Conference on Robotics and Automation, ICRA 2017 : ICRA 2017, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",

url = "http://sssa.bioroboticsinstitute.it/workshops/IC3\_icra2017",

}

Wu, C, Dai, C, Fang, G, Liu, Y-J & Wang, C 2017, RoboFDM: A robotic system for support-free fabrication using FDM. in 2017 IEEE International Conference on Robotics and Automation (ICRA)., 7989140, IEEE, Danvers, pp. 1175-1180, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989140

TY - GEN

T1 - RoboFDM

T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017

AU - Wu, Chenming

AU - Dai, Chengkai

AU - Fang, Guoxin

AU - Liu, Yong-Jin

AU - Wang, Charlie

PY - 2017

Y1 - 2017

N2 - This paper presents a robotic system - RoboFDM that targets at printing 3D models without support-structures, which is considered as the major restriction to the flexibility of 3D printing. The hardware of RoboFDM consists of a robotic arm providing 6-DOF motion to the platform of material accumulation and an extruder forming molten filaments of polylactic acid (PLA). The fabrication of 3D models in this system follows the principle of fused decomposition modeling (FDM). Different from conventional FDM, an input model fabricated by RoboFDM is printed along different directions at different places. A new algorithm is developed to decompose models into support-free parts that can be printed one by one in a collision-free sequence. The printing directions of all parts are also determined during the computation of model decomposition. Experiments have been successfully taken on our RoboFDM system to print general freeform objects in a support-free manner.

AB - This paper presents a robotic system - RoboFDM that targets at printing 3D models without support-structures, which is considered as the major restriction to the flexibility of 3D printing. The hardware of RoboFDM consists of a robotic arm providing 6-DOF motion to the platform of material accumulation and an extruder forming molten filaments of polylactic acid (PLA). The fabrication of 3D models in this system follows the principle of fused decomposition modeling (FDM). Different from conventional FDM, an input model fabricated by RoboFDM is printed along different directions at different places. A new algorithm is developed to decompose models into support-free parts that can be printed one by one in a collision-free sequence. The printing directions of all parts are also determined during the computation of model decomposition. Experiments have been successfully taken on our RoboFDM system to print general freeform objects in a support-free manner.

KW - Fabrication

KW - Shape

KW - Three-dimensional printing

KW - Manipulators

KW - Frequency division multiplexing

UR - https://www.scopus.com/pages/publications/85027968823

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DO - 10.1109/ICRA.2017.7989140

M3 - Conference contribution

AN - SCOPUS:85027968823

SN - 978-1-5090-4634-8

SP - 1175

EP - 1180

BT - 2017 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

CY - Danvers

Y2 - 29 May 2017 through 3 June 2017

ER -

RoboFDM: A robotic system for support-free fabrication using FDM

Abstract

Conference

Keywords

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