面向多轴增材制造的奇异性感知运动规划
Singularity-aware motion planning for multi-axis additive manufacturing
摘要：
多轴增材制造实现了沿动态变化方向的材料沉积的高度灵活性。这些机器的笛卡尔运动平台包括三个平行轴和两个旋转轴。旋转轴上的奇异性是运动规划中必须解决的关键问题，以确保高质量的制造结果。奇异区域中的高度非线性映射可以将具有在模型坐标系中定义的均匀采样的路径点的平滑刀具路径转换为机器坐标系中的高度不连续运动，这导致基于柔性的增材制造中材料的过度挤出/欠挤出。这个问题是具有挑战性的，因为打印头尖端的最大和最小速度都必须在运动中控制。此外，当采用基于采样的冲突避免时，可能发生冲突。本文提出了一种运动规划方法来支持多轴增材制造中刀具路径的设计实现。综合考虑奇异性和碰撞问题，以改善运动，从而提高制造质量。
英文摘要：
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 paper, 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.
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