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Singularity-Aware Motion Planning for Multi-Axis Additive Manufacturing (RAL2021 & CASE2021) Finalist of Best Student Paper Award (Paper 568)

Tianyu Zhang, Xiangjia Chen, Guoxin Fang, Yingjun Tian, Charlie C.L. Wang, IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6172-6179, Oct. 2021, doi: 10.1109/LRA.2021.3091109.

This code can translate the position and orientation information in the Model Coordinate System (MSC) into a Cartesian-based Machine Coordinate System (MSC) and generate G-code, which brings a smooth and collision-free motion for multi-axis 3D printing. Video Link

Installation

Please compile the code with QMake file "ShapeLab.pro".

Platform: Windows + Visual Studio + QT-plugin (tested QT version: 5.12.3 + msvc2017_64)

Install Steps:

Usage

Step 0: input waypoints and curved mesh into the system. Click button 'Read Data'.

Step 1: calculate extrusion volume of each waypoint Click button '1. Variable Filament Calculation'.

Step 2: conduct singularity optimization Click button '2. Singularity Optimization'.

Step 3: detect collision between printing head, platform and model Clicking button '3. Collision Checking'

Step 4: conduct graph search Clicking button '4. Collision Elimination'

Step 5: generate G-code file Clicking button '5. G Code Writing'.

Step 6: simulate the motion of printing Clicking button 'Simulation'.

Curved Layer Generation Algorithm

Contact Information

Tianyu Zhang (tianyu.zhang-10@postgrad.manchester.ac.uk)

Charlie C.L. Wang (changling.wang@manchester.ac.uk)