About this Abstract |
Meeting |
2022 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2022)
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Symposium
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2022 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2022)
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Presentation Title |
Robot-to-robot Collision Avoidance and Tool Path Recovery for A Multi-robot Wire-fed Ded System |
Author(s) |
Christopher Josol Masuo, Andrzej Nycz, Mark Noakes, Alex Arbogast, Peter Wang, Joshua Vaughan, Alex Walters, Derek Vaughan, William Carter, Luke Meyer, Jonathan Paul, Jason Flamm |
On-Site Speaker (Planned) |
Christopher Josol Masuo |
Abstract Scope |
Large metal additive parts can be manufactured rapidly through utilizing a wire-fed DED process. Production rate can be further improved by integrating multiple deposition heads to collaborate on building the same part. An approach of this implementation is to incorporate multiple robots equipped with wire-arc deposition capabilities. Multiple robots, however, necessitates control algorithms that focus on assigning print tool paths for each robot to ensure high throughput in productivity. These assigned tool paths would minimize robot-to-robot interference. Inevitably, robot collisions can occur based on the geometry of the part. Additionally, equipment failures on a robot can also arise during operation. These interruptions drastically hinder productivity and weaken the utilization of a multi-robot platform. In this work, a robot collision avoidance algorithm and tool path recovery framework for unexpected equipment failures were developed. Productivity was compared between the unimplemented and implemented methods. A multi-robot wire-arc system was used for benchmark testing. |
Proceedings Inclusion? |
Definite: Post-meeting proceedings |