Simulation of a robotic arm for multi-directional 3d printing

摘要

The need to investigate new solutions and novel 3D building strategies not only requires the development of new slicing algorithms and the exploitation of machines with more than 3 Dofs, but also a safe and reliable test-bench to optimize all the phases of the process. The following article describes the assessment by simulation of suitable control architectures for the realization of a Fused Deposition Modeling printer based on a 6 Dofs serial manipulator. The focus is put on the obtained position and speed profiles for unidirectional and multi-directional 3D printing to determine the week points associated with each control strategy.