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dc.contributor.advisorGravdahl, Jan Tommy
dc.contributor.advisorEvjemo, Linn Danielsen
dc.contributor.authorOnstein, Ingrid Fjordheim
dc.date.accessioned2018-09-05T14:02:37Z
dc.date.available2018-09-05T14:02:37Z
dc.date.created2018-05-31
dc.date.issued2018
dc.identifierntnudaim:18604
dc.identifier.urihttp://hdl.handle.net/11250/2561062
dc.description.abstractTraditional extrusion based Additive Manufacturing (AM) is realized using a 3 Degrees of Freedom (DOF), translation only, 3D printer. Here, the printer must be larger than the printed part. One way of enabling AM in large-scale is to combine AM with robotics. By using a 6 DOF robot manipulator to extrude a fast-curing material, the workspace of the build would be greatly expanded and it would be possible to increase the flexibility of the building process itself since the structure would no longer have to be built from the bottom-up approach which is necessary for most existing forms of AM. This could possibly reduce the need for support structures to the point of only relying of anchoring and stabilizing. In this thesis, a method for generating a path for AM using robot manipulators that takes advantages of the robots DOF is presented. The path is generated based on simple surfaces in CAD models. First, the surface(s) is sampled and the samples are gathered in a point cloud. Then, a path is generated based on the point cloud using a path generation algorithm. Three different path generation algorithms was implemented and tested: greedy choice, weighted greedy choice and Travelling Salesman Problem (TSP). Out of the three algorithms, the weighted greedy choice algorithm shows the most promise. With this algorithm, paths that enable printing along curved surfaces and reducing the need for support structures was generated. The method is effective, and by interfacing with FreeCAD, it is easy to review the generated paths through visual aids. It is, however, important to mention that the method only generates paths based on simple surfaces and is based on the assumption of fast-curing material enabling mid-air printing.
dc.languageeng
dc.publisherNTNU
dc.subjectKybernetikk og robotikk (2 årig)
dc.titleAn Additive Manufacturing Path Generation Method Based on CAD Models for Robot Manipulators
dc.typeMaster thesis


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