About this Abstract |
Meeting |
2021 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2021)
|
Symposium
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Process Development
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Presentation Title |
Robot Trajectory Planning for Large Scale Additive Manufacturing |
Author(s) |
Ademola Oridate, Oliver Uitz, Mitch Pryor, Carolyn Seepersad |
On-Site Speaker (Planned) |
Ademola Oridate |
Abstract Scope |
Additive manufacturing (AM) in the construction industry has gained traction in recent years, with most machines using gantry systems. While easy to control, they are bulky because they need a build envelope as large as the intended structure. In contrast, robotic architectures are more compact and offer greater mobility and the flexibility for printing in various orientations and on existing structures otherwise unreachable with a gantry system. However, with the increased degrees of freedom, motion planning for robots adds extra complexity, especially since a major driver of AM for construction is the ability to create geometrically complex structures. This research explores trajectory planning methods to achieve 3D printing of structures directly from CAD files by using Virtual Fixtures (VFs) for guiding robots as they print on/around existing objects and incorporating sensor feedback for intelligent monitoring of the printing process. |
Proceedings Inclusion? |
Definite: Post-meeting proceedings |