Path Generation for Foam Additive Manufacturing of Large Parts with a Cable-Driven Parallel Robot - Archive ouverte HAL Access content directly
Conference Papers Year : 2022

Path Generation for Foam Additive Manufacturing of Large Parts with a Cable-Driven Parallel Robot

Abstract

In this paper, a framework for foam printing with a Cable-Driven Parallel Robot (CDPR) is described for building large parts. Compared with the traditional robotic systems, CD-PRs have a large workspace that can include the printing area. In addition, the potential reconfigurability of CDPRs is an asset to get rid of the collisions between the cables and the environment during the execution of the printing task. The printing feasibility is verified through the process identification where key parameters are used in the proposed control law. The features to be taken into account through a framework to make a successful printing with a CDPR are described. Finally, advantages and drawbacks of CDPRs for additive manufacturing are discussed and future work is presented.
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Dates and versions

hal-03681505 , version 1 (30-05-2022)

Identifiers

  • HAL Id : hal-03681505 , version 1

Cite

Elodie Paquet, Marceau Metillon, Kevin Subrin, Benoit Furet, Stéphane Caro. Path Generation for Foam Additive Manufacturing of Large Parts with a Cable-Driven Parallel Robot. 39th International Symposium on Automation and Robotics in Construction (ISARC 2022), Jul 2022, Bogota, Colombia. ⟨hal-03681505⟩
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