About this Abstract |
| Meeting |
2026 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2026)
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| Symposium
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2026 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2026)
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| Presentation Title |
Physical Validation of a Threat-Field-Based Collision-Avoidance Planner for Cooperative 3D Printing |
| Author(s) |
Julienne Anastasia Cantu, Nurali Bibolat, Ronnie F.P. Stone, Zhenghui Sha |
| On-Site Speaker (Planned) |
Julienne Anastasia Cantu |
| Abstract Scope |
Cooperative 3D printing (C3DP) is an advanced additive manufacturing paradigm in which multiple robotic printing agents simultaneously fabricate large-scale parts, with collisions between agents being a major challenge for effective cooperation. While prior work primarily focuses on optimizing coordinated toolpath generation to prevent these collisions, the computational solutions often fail or become suboptimal once implemented in reality due to hardware response latencies. However, existing research leaves a gap in reliably measuring 3D printer latencies to incorporate into collision avoidance algorithms. As such, this paper focuses on characterizing printer response latency and developing a time prediction model to reduce downtime during the homing trajectory motion of collision planners. Specifically, a Design of Experiments (DOE) methodology was used to evaluate the effects of dwell time, number of commands, printer feedrate, and resolution on printing latency. The results showed three main regions in the latency landscape from the measurements: an initial latency region, L0; a rising latency buffer region, m; and the transition point, nt. Three models were then developed for these three response variables using Response Surface Methodology and Analysis of Variance (ANOVA) techniques. This latency prediction model is used to demonstrate how a homing trajectory that emulates the behavior of collision planners’ pause duration can be improved. The results showed that a time reduction in the homing trajectory motion is achieved successfully, highlighting the need to optimize key operational parameters to improve the reliability of online collision avoidance in C3DP. |
| Proceedings Inclusion? |
Planned: Post-meeting proceedings |