Vzpostavitev okolja, simulacija in kinematika 3D tiskanja z robotsko roko KUKA KR150-2

Nemec, Vid (author), Pušavec, Franci (mentor)

3D tiskanje, proizvodnja s stopljenim filamentom (ang. Fused Filament Fabrication), predstavlja najbolj komercialno obliko rastoče aditivne tehnologije. Ima slabosti kot so dolgi časi tiskanja in odvečni material v obliki podpornih struktur. Metoda uporabe večosnega robotskega manipulatorja si prizadeva izboljšati navedeni težavi. Pristop, ki smo ga izbrali za preučevanje teh slabosti, je pregled teorije, obstoječih poskusov in poskus simulacije gibanja z obratno postavitvijo ekstruderja in delovne plošče. Pregledali smo obstoječe praktične načine 3D tiskanja s statično postavitvijo iztiskanja filamenta in si podrobneje ogledali algoritme, ki omogočajo to možnost. S pridobljenim novim znanjem smo uspešno prenesli dani sistem v okolje programske opreme SprutCam in izvedli približek simulacije gibanja, kjer smo si prizadevali za tiskanje brez podpornih struktur in s krajšim časom tiskanja.

• Language: Slovenian
• Keywords: 3D tiskanje, statično ekstrudiranje, tiskanje brez podpor, algoritem, simulacija, SprutCam
• Work type: Final paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [V. Nemec]
• Year: 2023
• Number of pages: XII, 36 str.
• PID: 20.500.12556/RUL-148991
• UDC: 004.925.84:681.652.4-036.7(043.2)
• COBISS.SI-ID: 163748611
• Publication date in RUL: 02.09.2023

Secondary language

• Language: English
• Title: Establishment of the environment, simulation and kinematicsof 3D printing with a robotic arm KUKA KR150-2

Abstract

3D printing, fused filament fabrication, represents the most commercial form of growing additive technology. It has disadvantages such as long printing times and redundant material in the form of support structures. The method of using a multi-axis robotic manipulator aims to improve the mentioned problems. The approach we have chosen to study these weaknesses is a review of theory, existing experiments, and an attempt to simulate motion by reversing the extruder and work plate. We reviewed the existing practical ways of 3D printing with static filament extrusion layout and took a closer look at the algorithms that make this possible. With the acquired new knowledge, we successfully transferred the given system to the SprutCam software environment and performed an approximation of motion simulation, where we aimed for printing without support structures and with a shorter printing time.

• Keywords: 3D printing, statical ekstrusion, printing without supports, alghoritem, simulation, SprutCam