FDM打印路径拐角速度控制算法
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摘要
增材制造中,打印喷嘴经过扫描路径拐角处,由于系统进给轴加速度与速度突变引起路径上喷嘴挤出材料不均匀沉积,导致打印物体质量降低等问题,提出了一种用跃度限制加速度曲线的快速高质量打印路径拐角光顺算法。给定初始和最终的位移、速度以及加速度条件限制,再结合控制喷嘴的驱动器的运动学限制与预设的轮廓公差值,计算出最优拐角过渡速度和喷嘴经过拐角的持续时间。该算法的有效性通过仿真得到了验证,在提高打印质量的同时,钝角打印时间减少了5.2%,锐角打印时间减少了8%。
In the additive manufacturing process, the printing nozzle passes through the corner of the scanning path, due to the sudden acceleration of the nozzle extrusion material on the path caused by the sudden change of and velocity of the system feed axis, the quality of the printed object is reduced. Fast high quality print path corner smoothing algorithm is proposed, in which the acceleration curve is limited by Jerk. Given the initial and final displacement, velocity and acceleration condition constraints, the optimal corner transition speed and nozzle pass-to-corner duration are calculated by combining the driver kinematic limit of the control print nozzle with the preset contour tolerances. The availability of the algorithm was verified by simulation. When the print quality was improved, the obtuse angle printing time was reduced by 5.2%, and the acute angle printing time was reduced by 8%.
In the additive manufacturing process, the printing nozzle passes through the corner of the scanning path, due to the sudden acceleration of the nozzle extrusion material on the path caused by the sudden change of and velocity of the system feed axis, the quality of the printed object is reduced. Fast high quality print path corner smoothing algorithm is proposed, in which the acceleration curve is limited by Jerk. Given the initial and final displacement, velocity and acceleration condition constraints, the optimal corner transition speed and nozzle pass-to-corner duration are calculated by combining the driver kinematic limit of the control print nozzle with the preset contour tolerances. The availability of the algorithm was verified by simulation. When the print quality was improved, the obtuse angle printing time was reduced by 5.2%, and the acute angle printing time was reduced by 8%.
引文
[1]韩兴国,宋小辉,殷鸣,陈海军,殷国富.熔融沉积式3D打印路径优化算法研究[J].农业机械学报,2018.49(3):393-401,410
[2]侯章浩,乌日开西·艾依提.3D打印的路径规划研究综述[J].机床与液压,2016.44(5):179-182
[3] M. Wojcik, L. Koszalka, I. Koszalka, and A. Kasprzak,MZZ-GA Algorithm for Solving Path Optimization in 3D Printing[C]. Proceedings to 8th ICONS, IARIA, 2015:30-35
[4] JIN G Q,LI W D,GAO L.An Adaptive Process Planning Approach of Rapid Prototyping and Manufacturing[J].Robotics and Computer-integrated Manufacturing,2013.29:23-38
[5] Ganganath N, Cheng C, Fok K, et al. Trajectory planning for 3D printing:a revisit to traveling salesman problem[C].International Conference on Control. IEEE, 2016:287-290
[6] Thompson B,Yoon H S.Efficient Path Planning Algorithm for Additive Manufacturing Systems[J]. IEEE Transactions on Components Packaging&Manufacturing Technology,2014.4(9):1555-1563
[7] Thompson B, Yoon H S. Velocity-Regulated Path Planning Algorithm for Aerosol Printing Systems[J].Journal of Manufacturing Science and Engineering, 2015.137(3):031020-031020-7
[8] Giberti H, Sbaglia L, Urgo M. A path planning algorithm for industrial processes under velocity constraints with an application to additive manufacturing[J]. Journal of Manufacturing Systems, 2017.43:160-167
[9]石川,赵彤,叶佩青,吕强.数控系统S曲线加减速规划研究[J].中国机械工程,2007.12:1421-1425
[2]侯章浩,乌日开西·艾依提.3D打印的路径规划研究综述[J].机床与液压,2016.44(5):179-182
[3] M. Wojcik, L. Koszalka, I. Koszalka, and A. Kasprzak,MZZ-GA Algorithm for Solving Path Optimization in 3D Printing[C]. Proceedings to 8th ICONS, IARIA, 2015:30-35
[4] JIN G Q,LI W D,GAO L.An Adaptive Process Planning Approach of Rapid Prototyping and Manufacturing[J].Robotics and Computer-integrated Manufacturing,2013.29:23-38
[5] Ganganath N, Cheng C, Fok K, et al. Trajectory planning for 3D printing:a revisit to traveling salesman problem[C].International Conference on Control. IEEE, 2016:287-290
[6] Thompson B,Yoon H S.Efficient Path Planning Algorithm for Additive Manufacturing Systems[J]. IEEE Transactions on Components Packaging&Manufacturing Technology,2014.4(9):1555-1563
[7] Thompson B, Yoon H S. Velocity-Regulated Path Planning Algorithm for Aerosol Printing Systems[J].Journal of Manufacturing Science and Engineering, 2015.137(3):031020-031020-7
[8] Giberti H, Sbaglia L, Urgo M. A path planning algorithm for industrial processes under velocity constraints with an application to additive manufacturing[J]. Journal of Manufacturing Systems, 2017.43:160-167
[9]石川,赵彤,叶佩青,吕强.数控系统S曲线加减速规划研究[J].中国机械工程,2007.12:1421-1425