Trajectory Planning Strategy for Multidirectional Wire-Arc Additive Manufacturing

Schmitz, Markus; Weidemann, Carlo; Corves, Burkhard; Hüsing, Mathias

doi:10.1007/978-3-030-58380-4_56

Cited by 2 publications

(2 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The objective of the present work is thus to show the different steps of the OLP software (i.e., STL le, slicer, trajectories, and robot/welding device command les). The present solution is certainly very similar in comparison with that developed by Schmitz two years ago [5,7]. The rst step concerns the choice of a CAD package to import or draw the part to be printed by WAAM.…”

Section: Introductionmentioning

confidence: 84%

Development of WAAM process: slicer, robot trajectories, and examples of parts

Bolot

MATHIEU²,

SIMON³

2023

Preprint

View full text Add to dashboard Cite

This work is devoted to Wire Arc Additive Manufacturing processing. The question of automatic generation of robot trajectories is mainly addressed. An in-house slicer was first developed. Once the part to be manufactured has been designed and converted into STL format, the slicer allows automatic generation of successive vertices defining the part contours and corresponding robot trajectories. Automatic generation of the robot program is then performed including displacement instructions written in KRL language (case of KUKA robots), as well as commands related to the CMT welding device. The different steps in the offline programming pre-treatment process are first described. In a second step, two distinct parts with increasing degrees of complexity were printed using the corresponding offline programming tool. Finally, the question of the scanning strategy is discussed, the manufactured parts are shown, and required further improvements are explained.

show abstract

Section: Introductionmentioning

confidence: 84%

Development of WAAM process: slicer, robot trajectories, and examples of parts

Bolot

MATHIEU²,

SIMON³

2023

Preprint

View full text Add to dashboard Cite

show abstract

“…The mentioned high demands on the manufacturing process caused by the use of industrial robots motivate the parallel consideration of the applied robot (and periphery) already from the beginning of the planning process [4]. Existing algorithms of slicing and path planning from conventional AM are not executable for the robot [5]. The executability can essentially be attributed to the pure reachability of the robot's poses and the manipulability of the robot at the required high printing velocities.…”

Section: Major Challengesmentioning

confidence: 99%

A Robot-Centered Path-Planning Algorithm for Multidirectional Additive Manufacturing for WAAM Processes and Pure Object Manipulation

et al. 2021

Self Cite

View full text Add to dashboard Cite

Previous algorithms for slicing, path planning or trajectory planning of additive manufacturing cannot be used consistently for multidirectional additive manufacturing with pure object manipulation in wire-arc additive manufacturing. This work presents a novel path planning approach that directly takes robot kinematics into account and thus ensures the reachability of all critical path poses. In an additional step, the planned path segments are smoothed so that joint velocity limits are respected. It is shown that the implemented path planner generates executable robot paths and at the same time maintains the process quality (in this case, sufficient coverage of the slice area). While the introduced method enables the generation of reachable printing paths, the smoothing algorithm allows for the execution of the path with respect to the robot’s velocity limits and at the same time improves the slice coverage. Future experiments will show the realization of the real robot setup presented.

show abstract

Trajectory Planning Strategy for Multidirectional Wire-Arc Additive Manufacturing

Cited by 2 publications

References 5 publications

Development of WAAM process: slicer, robot trajectories, and examples of parts

Development of WAAM process: slicer, robot trajectories, and examples of parts

A Robot-Centered Path-Planning Algorithm for Multidirectional Additive Manufacturing for WAAM Processes and Pure Object Manipulation

Contact Info

Product

Resources

About