Browse > Article

A Study on the Implementation of an Agile SFFS Based on 5DOF Manipulator  

Kim Seung-Woo (Soonchunhyang University, Division of Information Technology Engineering)
Jung Yong-Rae (Soonchunhyang University, Division of Information Technology Engineering)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.42, no.1, 2005 , pp. 1-11 More about this Journal
Abstract
Several Solid Freeform Fabrication Systems(SFFS) are commercialized in a few companies for rapid prototyping. However, they have many technical problems including the limitation of applicable materials. A new method of agile prototyping is required for the recent manufacturing environments of multi-item and small quantity production. The objectives of this paper include the development of a novel method of SFFS, the CAFL/sup VM/(Computer Aided Fabrication of Lamination for Various Material), and the manufacture of the various material samples for the certification of the proposed system and the creation of new application areas. For these objectives, the technologies for a highly accurate robot path control, the optimization of support structure, CAD modeling, adaptive slicing was implemented. However, there is an important problem with the conventional 2D lamination method. That is the inaccuracy of 3D model surface, which is caused by the stair-type surface generated in virtue of vertical 2D cutting. In this paper, We design the new control algorithm that guarantees the constant speed, precise positioning and tangential cutting on the 5DOF SFFS. We develop the tangential cutting algorithm to be controlled with constant speed and successfully implemented in the 5DOF CAFL/sup VM/ system developed in this paper. Finally, this paper confirms its high-performance through the experimental results from the application into CAFL/sup VM/ system.
Keywords
SFFS(Several Solid Freeform Fabrication Systems); CAFL/sup VM/(Computer Aided Fabrication of Lamination for Various Material); Constant-Speed Path Control; Tangent-Cutting Control;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Wesley E. Snyder 'Industrial Robots: Computer Interfacing and Control' in differential motions and the jacobian pp.151-175, in Path control pp.178-200, Prentice-Hall, 1985
2 Brady, M. 'Basics of robot motion planning and Control.' in Robot motion, pp.1-50, M.I.T.Press, 1983
3 Van Willigenburg, L. G., Computation and Implementation of Digital Time-Optimal Feedback Controllers for an Industrial X-Y Robot Subject to Path, Torque, and Velocity Constraints, The International Journal of Robotics and Research, 1993. 12(5): pp. 420-433   DOI   ScienceOn
4 E. A.Griffin, J Daufenbach, and S. McMillin, 'Desktop Manufacturing: LOM vs Pressing', Am. Ceram. Soc. Bull 1994
5 Ballou, Kevin R., 'Precise Friction Modeling and Compensation in Robot Control', M.S.thesis in Department of Electrical Engineering and Applied Physics, Case Western Reserve University, 1990
6 Beattie, M., 'Nonlinear Modeling and Control of an Industrial Robot', M.S. thesis in Department of Electrical Engineering and Applied Physics, Case Western Reserve University, 1989
7 Zong, G., Wu, Y., Tran, N., Lee, I., Bourell, D. L., Beaman, J. J. and Marcus, H. L.,'Direct Selective Laser Sintering of High Temperature Metals', Proceedings of the Solid Freeform Fabrication Symposium, University of Texas at Austin, Austin, Texas, pp.72- 85, 1992
8 Lee, C. H., T. M. Gaffney, and C. L. Thomas, 'Soft Tooling for Low Production Manufacturing of Large Structures,' in Solid Freeform Symposium Proceedings. University of Texas at Austin, Austin. Texas, pp. 207-214, Aug. 1996
9 Chua chee kai, Leong kah Fai, Nanyang Technological University 'Rapid Prototyping: Principles& Applications in Manufacturing' John Wiley & Sons, Inc. June. 1996
10 R. H. Craeford and J. J. Beaman, 'Solid Freeform Fabrication: A New Manufacturing Paradigm,' IEEE Spectrum Magazine, Feb. 1999   DOI   ScienceOn
11 Weiss, L., Prinz, F., Neplotnik, G., Padmanabhan, K Schultz, L. And Merz. R., 'Shape Deposition Ma nufacturing of Wearable Computers,' in Solid Freeform Symposium Proceedings, University of Texas at Austin Austin, Texas, pp. 31-38, Aug. 1996
12 Paredis, C. J. J., Khosla, P. K, 'Kinematic Design of Serial Link Manipulators from Task Specification', The International Journal of Robotics and Research, 1993. 12(3): pp.274-287   DOI   ScienceOn
13 Jacobs, P., 'Stereolithography 1993: Epoxy Resins, Improved Accuracy and Investment Casting', Proceedings of the Fourth International Conference on Rapid Prototyping, Dayton, OH, pp.249-262, 1993
14 Y. Zheng and W. S. Newman, 'Software Design Challenges for Computer-Aided Manufacturing System Nottingham, UK, July 1997
15 P.Bonaldi and C.Barlier, 'Examination of Various Stochastic Algorithms Research on Placement Methods Dedicated to the Rapid Prototyping Process: Strato- Conception' Proceedings of the 6th European Conference on Rapid Prototyping and Manufacturing, Nottingham, UK July 1997