Kategorie: ‘MDAM’
Collision-free trajectory planning for growing components in robot-assisted manufacturing
Der an dieser Stelle eingebundene Inhalt führt Sie auf Seiten, die von der von Google betriebenen Seite YouTube - YouTube, LLC, 901 Cherry Ave., San Bruno, CA 94066, USA - zur Verfügung gestellt werden. Mit dem Aufruf des Inhalts kann YouTube Ihre IP-Adresse und die Sprache des Systems, sowie verschiedene browserspezifische Angaben ermitteln. Wenn Sie in Ihrem YouTube-Account eingeloggt sind, ermöglichen Sie YouTube, Ihr Surfverhalten direkt Ihrem persönlichen Profil zuzuordnen. Dies können Sie verhindern, indem Sie sich aus Ihrem YouTube-Account ausloggen. YouTube verwendet Cookies und Tracking-Tools. Die Datenverarbeitungsvorgänge sowie die Zwecke der Verarbeitung können direkt bei YouTube erfragt und eingesehen werden.
As part of the FunkDAF research project, the IGMR is working with the MSE and VCI at RWTH Aachen University to explore the limits of additive manufacturing. Our focus is on multidirectional manufacturing: instead of breaking down components into planar layers as in conventional 3D printing, we generate print paths based on stress data to create load-path-compatible and thus more stable structures.
The kinematics: We use a 6-axis industrial robot in a “robot-guided” configuration. The robot guides the print bed and component under a stationary extruder. This use of all six degrees of freedom enables the printing of complex, non-planar geometries and allows component sections to be manufactured in variable orientations to gravity.
The challenge: Trajectory planning for such systems is highly complex. Unlike static print beds, we are moving a dynamically growing workpiece in space. During the process, the component itself becomes a potential collision object with respect to the nozzle and the environment. To make matters more difficult, the extrusion process requires a minimum working distance from the stationary nozzle. Path planning must therefore not only take extrusion into account, but also precisely calculate how the component volume changes.
The travel paths (empty runs) between individual printing segments are particularly critical. Here, the robot often has to completely reorient the component in order to reach the next section without collision. Our current experiments (see images) demonstrate this impressively:
Helix on cylinder: Requires continuous, coordinated rotation to deposit material on a curved surface.
Orthogonal cuboids: Demonstrate the ability to print overhangs without support structures through a 90° reorientation.
Contact person: Mark Witte
Further information about the project can be found here.
IMBA training for the IIDEA project team
Our IIDEA-project team took part in a training course on the “Integration of people with disabilities into the world of work” (IMBA).
IMBA is positioned at the interface of medical and occupational rehabilitation and enables a precise description and comparison of work requirements and human abilities. The training covered the basics of IMBA, with a particular focus on the defined characteristics that serve as the basis for the assessment of work requirements and abilities. A highlight of the training was the introduction to the “Marie Plus” software, which is closely linked to the IMBA concept. The training was conducted by Torsten Alles, Ph.D., Managing Director of iqpr. His extensive knowledge and experience helped to emphasize the importance of IMBA in occupational therapy and activity-based medical rehabilitation.
We are convinced that this training will support our previous research and make a valuable contribution to the IIDEA project. We are grateful for the expertise we have gained through this training and look forward to applying the acquired knowledge in our daily work.
contact person:
Mathias Hüsing
Carlo Weidemann
Elodie Hüsing
Sophie-Charlotte Keunecke
Christina Jansen
First movement of PARAGRIP with new control unit
PARAGRIP’s control architecture has been completely redesigned in order to be fully equipped for its future tasks in multidirectional additive manufacturing (MDAM) with arc welding (WAAM). The movements of all four arms can now be planned, simulated and executed on the real robot using MoveIt in ROS2. The joint positions of the physical robot are always fed back to ROS2, allowing the integration of online planning algorithms in the future. The video shows the planning and execution of a simple test motion of the PARAGRIP.
More information about the project can be found here.
Contact: Jan Wiartalla
Erste FDM Druckversuche im Rahmen der Multidirektionalen Additiven Fertigung
Die ersten Hürden des prototypischen Aufbaus sind geschafft. Nun kann die entwickelte Prozessvorbereitung getestet werden.
https://youtu.be/WlblPv46NG4
Im Rahmen des DFG geförderten Projekts soll die Multidirektionale Additive Fertigung für das Lichtbogenschweißen erforscht werden. Die Prozessvorbereitung soll nun zunächst im FDM Verfahren validiert werden.
Ansprechpartner:
Geplanter Umbau des Paragrip
Um für seine neue Aufgabe in der Additiven Fertigung mittels Lichtbogenschweißen (WAAM) optimal gewappnet zu sein, muss der Paragrip einigen konstruktiven Änderungen unterworfen werden.
In einem gemeinsamen Forschungsprojekt des IGMR mit dem ISF der RWTH Aachen wird an der Multidirektionalen Additiven Fertigung (MDAM) metallischer Bauteile geforscht. Durch das Bewegen des Druckbettes mittels eines Manipulators bei gleichzeitig feststehender Schweißpistole kann das zu druckende Bauteil stets so ausgerichtet werden, dass Stützstrukturen vermieden werden können. Um die Bewegung der Druckplatte dabei nicht durch die Kinematik eines seriellen Industrieroboters zu limitieren, soll der am IGMR entwickelte und gebaute Paragrip mit seinem modularen objektintegrativen Handhabungsdesign zum Einsatz kommen. Die Abbildung zeigt ein Rendering des geplanten Umbaus des Paragrips für den Einsatz in der Multidirektionalen Additiven Fertigung mittels Lichtbogenschweißen.
Ansprechpartner:
Manipulator-specific path planning for multidirectional additive manufacturing
In a joint research project between the IGMR and the ISF of RWTH Aachen University, research is being conducted on the Multidirectional Additive Manufacturing of metallic components.
With the aid of Multidirectional Additive Manufacturing (MDAM), it is possible to build complex components layer by layer and without the need for support structures. By moving the base plate by means of an industrial robot while the welding gun remains fixed, the component to be printed can always be oriented in such a way that support structures can be avoided. The major challenge lies in the consideration of specialized welding processes with external wire feeding and the use of sensors for process monitoring. This results in a dependency of the orientation of the welding gun compared to the currently printed path.
As part of his master’s thesis, Jan Wiartalla developed a path planning algorithm that calculates an executable and, if possible, continuous path within specified, flat part slices that completely fills the cross-sectional area. This is done robot-specific, so that the algorithm always takes the robot currently in use as well as its limitations into account. A standardized interface allows for the robot model to be easily exchanged and the algorithm can thus quickly be adapted to different test environments. The video illustrates the algorithm’s procedure in a simplified way.
https://youtu.be/chuD57ja9JE
Contacts:
Multidirectional additive manufacturing in arc welding process
In collaboration with the ISF, RWTH Aachen, we at IGMR are researching Multidirectional Additive Manufacturing. In this application for the production of metal components.
Multidirectional Additive Manufacturing enables the production of complex components without support structures, both in the classic FDM process with plastic and with layer-by-layer buildup in the arc welding process. At IGMR, the entire process chain of additive manufacturing is being extended to meet the special challenges of this process from a robotic perspective. This includes the slicing of a virtual component into layers, the subsequent planning of a collision-free structure, the generation of executable robot paths for filling the layers as well as the necessary trajectory planning.
The content embedded at this point takes you to pages provided by the YouTube site operated by Google – YouTube, LLC, 901 Cherry Ave, San Bruno, CA 94066, USA. By calling up the content, YouTube can determine your IP address and the language of the system, as well as various browser-specific details. If you are logged into your YouTube account, you enable YouTube to assign your surfing behavior directly to your personal profile. You can prevent this by logging out of your YouTube account. YouTube uses cookies and tracking tools. The data processing operations as well as the purposes of the processing can be requested and viewed directly at YouTube.
Contact person:
Markus Schmitz
Carlo Weidemann
https://youtu.be/vYejNjBSUp8
Multidirectional Additive Manufacturing
In the new DFG project, components are manufactured with robots using wire arc additive manufacturing. Multidirectionality is to be exploited in the process.
Contact:
WAAM simulation with ROS in Gazebo
Vincent Brünjes designed a Gazebo plug-in in his master‘s thesis to simulate multidirectional wire+arc additive manufacturing processes.
Contacts:
