Freeform Assembly Planning

Gelber, Matthew K.; Hurst, Gregory D. D.; Bhargava, Rohit

doi:10.48550/arxiv.1801.00527

Cited by 1 publication

(2 citation statements)

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“…In the context of 3D printing in bioengineering, Gelber et al presented a heuristic backtrack searching algorithm to generate printing sequence to enable micro-scale spatial 3D printing on a purpose-built isomalt 3D printer [18]. They were the first to identify that joint positioning errors are caused by beam compliance and include it as a cantilever constraint in the sequence searching process [18][19].…”

Section: Related Problemsmentioning

confidence: 99%

“…This assignment has recently proven to be critical for the physical execution of spatial extrusion due to the molten joint's incapability to resist bending moment and elastic recoil effect [19]. Gelber et al introduce a cantilever constraint to their extrusion planning algorithm to address this problem: new elements cannot be connected to node p, if any previously printed element connected to p is cantilevered [18]. A relaxed version of this constraint is used here to route the nodal printing order: starting from the node with larger degree (number of connected elements) is preferred.…”

Section: Backtracking Searchmentioning

confidence: 99%

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Automated sequence and motion planning for robotic spatial extrusion of 3D trusses

2018

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While robotic spatial extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for trusses with unconstrained topologies. This paper presents the first attempt in the field to rigorously formulate the extrusion sequence and motion planning (SAMP) problem, using a CSP encoding. Furthermore, this research proposes a new hierarchical planning framework to solve the extrusion SAMP problems that usually have a long planning horizon and 3D configuration complexity. By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial trusses with nonstandard topologies. This paper also presents the first detailed computation data to reveal the runtime bottleneck on solving SAMP problems, which provides insight and comparing baseline for future algorithmic development. Together with the algorithmic results, this paper also presents an open-source and modularized software implementation called Choreo that is machine-agnostic. To demonstrate the power of this algorithmic framework, three case studies, including real fabrication and simulation results, are presented.

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Section: Related Problemsmentioning

confidence: 99%

Section: Backtracking Searchmentioning

confidence: 99%