Singularity-Aware Motion Planning for Multi-Axis Additive Manufacturing

Journal article (2021)

Authors

Tianyu Zhang The University of Manchester
Xiangjia Chen Chinese University of Hong Kong
G. Fang Materials and Manufacturing - IDE
Yingjun Tian The University of Manchester
C.C. Wang The University of Manchester
Research Group
Materials and Manufacturing (IDE) (TU Delft)
Additive manufacturing Singularity Collision checking Multi-axis motion planning
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Published Date

2021

Language

English

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Faculty

Industrial Design Engineering

Department

Sustainable Design Engineering

Research Group

Materials and Manufacturing

Abstract

Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on rotational axes is a critical issue to be tackled in motion planning for ensuring high quality of manufacturing results. The highly nonlinear mapping in the singular region can convert a smooth toolpath with uniformly sampled waypoints defined in the model coordinate system into a highly discontinuous motion in the machine coordinate system, which leads to over-extrusion/under-extrusion of materials in filament-based additive manufacturing. The problem is challenging as both the maximal and the minimal speeds at the tip of a printer head must be controlled in motion. Moreover, collision may occur when sampling-based collision avoidance is employed. In this letter, we present a motion planning method to support the manufacturing realization of designed toolpaths for multi-axis additive manufacturing. Problems of singularity and collision are considered in an integrated manner to improve the motion therefore the quality of fabrication.