NDLI: Robot-assisted 3D printing of biopolymer thin shells

Content Provider	Springer Nature Link
Author	Brooks, Byron James Arif, Khalid Mahmood Dirven, Steven Potgieter, Johan
Copyright Year	2016
Abstract	The design, development, and testing of a robot-assisted biopolymer thin shell free-form printing system is presented. This fused-deposition style printing system directly extrudes pellets of biomaterial and is capable of printing directly on organically shaped 3D curved surfaces. The screw extrusion method allows direct printing from pellets. The printed structure is supported by a pre-built base (a mandrel), which is manipulated by a six degree-of-freedom industrial robot arm, an ABB IRB120. This robot is used to manipulate the orientation of the support mandrel surface. The print method works by projecting a desired 2D image onto a mathematical model of the pre-built mandrel surface. This produces a 3D point path for the system to follow. These points are then converted into vectors for the robot’s pose and orientation of the end effector, which ensures that the extrusion remains normal to the mandrel surface. Inverse kinematics is applied to convert the trajectory into joint positions for the robot to follow. This paper demonstrates the utility of the developed system through simulation and printing of concave surface designs.
Starting Page	957
Ending Page	968
Page Count	12
File Format	PDF
ISSN	02683768
Journal	The International Journal of Advanced Manufacturing Technology
Volume Number	89
Issue Number	1-4
e-ISSN	14333015
Language	English
Publisher	Springer London
Publisher Date	2016-07-15
Publisher Place	London
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Biopolymer 3D printing Thin shell printing Pellet extrusion Articulated robot Fused deposition modeling Industrial and Production Engineering Media Management Mechanical Engineering Computer-Aided Engineering (CAD, CAE) and Design
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Control and Systems Engineering Mechanical Engineering Computer Science Applications Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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