Discipline: Computer Sciences and Information Management
Subcategory: Civil/Mechanical/Manufacturing Engineering
Sara Darensbourg - Florida A&M University
Co-Author(s): Keimargeo Mcqueen, Florida A&M University, Tallahassee, FL; Carl Moore Jr, FAMU-FSU College of Engineering, Tallahassee, FL; Tarik Dickens, FAMU-FSU College of Engineering, Tallahassee, FL; Clement Allen, Florida A&M University, Tallahassee, FL.
We have designed a path planner for an additive manufacturing (AM) prototype where two robotic arm based 3D printers collaborate on a single part. Theoretically, with two nozzle equipped arms, a part can be 3D printed twice as fast. Moreover, equipping the second robot with a machining tool can allow for the completion of secondary operations like hole reaming or surface smoothing before the part printing is finished. With two arms in the part space care must be taken to ensure that the arms collaborate intelligently; in particular, tasks must be planned so that the robots do not collide. This paper discusses the development of a robot path plan to efficiently print segments with two arms, while maintaining a safe distance between them. A solution to the travelling salesman problem, an optimal path planning algorithm, was used to successfully determine the robots path plans while a simple nozzle-to-nozzle distance calculation was added to represent avoiding robot-to-robot collisions. As a result, in simulation, the average part completion time was reduced by 45% over the single nozzle case. Importantly, the algorithm can theoretically be run on n-robots, so time reduction possibilities are large.
Funder Acknowledgement(s): NSF-RISE, CREST, and AFRL, Award# 1646897, 1735968
Faculty Advisor: Dr. Carl Moore, email@example.com
Role: I cowrote the MATLAB code that produced the simulations. I ran tests for data accuracy and consistency for the simulation. I helped create the framework for the code to be written.