自由形式装配规划
Freeform Assembly Planning
摘要：
3D打印通过自动化长序列的添加步骤来制造复杂的架构。打印机、材料和生成式设计的日益复杂使得几何复杂性在制造中不再是问题;然而，这种复杂性只有在设计可以转化为物理上可执行的打印操作序列时才能实现。我们调查这个规划问题的自由形式的直写组件，其中细丝的材料通过喷嘴沿3D路径平移，以创建稀疏的，框架状的结构沉积。我们列举了不同变体的自由装配过程的过程约束，并表明，在材料通过玻璃化转变硬化的情况下，确定是否存在可行的序列是NP完全的。尽管如此，对于在现实世界的应用中通常遇到的拓扑，找到一个可行的，甚至是最佳的序列是一个容易处理的问题。我们开发了一种排序算法，最大限度地提高了印刷零件的保真度，并通过将组件建模为线性弹性框架来最大限度地降低印刷失败的概率。我们实现了该算法，并通过实验验证了我们的方法，打印由数千根直径为100-200微米的糖醇细丝组成的物体。装配规划器允许将自由成形工艺应用于任意复杂的部件，从微米级的组织工程和微流体，到毫米级的血管化功能材料和软体机器人，再到米级的结构部件，从而打开了各种装配可能性。
英文摘要：
3D printing enables the fabrication of complex architectures by automating long sequences of additive steps. The increasing sophistication of printers, materials, and generative design promises to make geometric complexity a non-issue in manufacturing; however, this complexity can only be realized if a design can be translated into a physically executable sequence of printing operations. We investigate this planning problem for freeform direct-write assembly, in which filaments of material are deposited through a nozzle translating along a 3D path to create sparse, frame-like structures. We enumerate the process constraints for different variants of the freeform assembly process and show that, in the case where material stiffens via a glass transition, determining whether a feasible sequence exists is NP-complete. Nonetheless, for topologies typically encountered in real-world applications, finding a feasible or even optimal sequence is a tractable problem. We develop a sequencing algorithm that maximizes the fidelity of the printed part and minimizes the probability of print failure by modeling the assembly as a linear, elastic frame. We implement the algorithm and validate our approach experimentally, printing objects composed of thousands of sugar alcohol filaments with diameters of 100-200 microns. The assembly planner allows the freeform process to be applied to arbitrarily complex parts, from tissue engineering and microfluidics at the micrometer scale, to vascularized functional materials and soft robots at the millimeter scale, to structural components at the meter scale, thus opening a variety of assembly possibilities.
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