基于粘弹性流体的移动3D打印机器人仿真
Mobile 3D Printing Robot Simulation with Viscoelastic Fluids
摘要：
移动3D打印机器人的系统设计和算法开发需要逼真的仿真。它们需要一个移动机器人仿真平台与基于物理的材料仿真进行互操作，以处理时变可变形3D打印材料与环境中其他模拟刚体之间的相互作用，这对机器人专家来说还不可用。为了弥合这一差距并实现移动3D打印过程的实时仿真，我们开发了一个仿真框架，其中包括基于粒子的粘弹性流体仿真和广泛采用的Gazebo机器人仿真器中的粒子到网格转换，避免了传统增材制造仿真方法的瓶颈。该框架是第一个能够模拟机器人手臂或移动机械手与粘弹性流体。该方法使用不同的材料属性和多个协作机器人进行测试，以证明其模拟能力的机器人计划和控制的打印头轨迹，并在视觉上感觉在同一时间打印的流体材料作为一个自由形式的网格。在模拟中的可用材料颗粒的功能的可扩展性也进行了研究。在普通台式计算机上实现了平均5 FPS的模拟。
英文摘要：
The system design and algorithm development of mobile 3D printing robots need a realistic simulation. They require a mobile robot simulation platform to interoperate with a physics-based material simulation for handling interactions between the time-variant deformable 3D printing materials and other simulated rigid bodies in the environment, which is not available for roboticists yet. To bridge this gap and enable the real-time simulation of mobile 3D printing processes, we develop a simulation framework that includes particle-based viscoelastic fluid simulation and particle-to-mesh conversion in the widely adopted Gazebo robotics simulator, avoiding the bottlenecks of traditional additive manufacturing simulation approaches. This framework is the first of its kind that enables the simulation of robot arms or mobile manipulators together with viscoelastic fluids. The method is tested using various material properties and multiple collaborating robots to demonstrate its simulation ability for the robots to plan and control the printhead trajectories and to visually sense at the same time the printed fluid materials as a free-form mesh. The scalability as a function of available material particles in the simulation was also studied. A simulation with an average of 5 FPS was achieved on a regular desktop computer.
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