A Generative Approach for Scheduling Multi-Robot Cooperative Three-Dimensional Printing
A Generative Approach for Scheduling Multi-Robot Cooperative Three-Dimensional Printing
复制标题
一种调度多机器人协同三维打印的生成方法
DOI：
10.1115/1.4047261
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发表时间：
2020
影响因子：
3.1
通讯作者：
Sha, Zhenghui
中科院分区：
文献类型：
--
作者：
Poudel, Laxmi;Zhou, Wenchao;Sha, Zhenghui
协同3D打印（C3 DP）是一种新的增材制造方法，其中多个携带打印头的移动的机器人协同工作以打印所需的部件。C3 DP的核心是基于块的打印策略，其中所需的部件首先被分成较小的块，然后将块分配给各个机器人进行打印和粘合。这些机器人将按照预定的顺序同时工作，以打印整个零件。虽然有前途，C3 DP缺乏一个生成的方法，使自动分块和调度。在这项研究中，我们的目标是开发一种生成的方法，可以自动生成不同的打印时间表的分块对象，通过探索一个更大的解决方案空间，往往是超出了人类的认知能力。生成方法包含（1）基于表示块的有向依赖树结构的邻接矩阵的不同打印调度的随机生成器;（2）将针对其检查随机生成的调度以进行验证的一组几何约束;以及（3）用于比较所有有效调度的性能的打印时间评估器。我们使用两个案例研究证明了生成方法的有效性：一个大的简单的矩形酒吧和一个微型折叠运动型多用途车（SUV）更复杂的几何形状。这项研究表明，生成方法可以生成大量不同的打印时间表的无碰撞C3 DP，这不能单独使用人类的机器人探索。该生成式方法为建立C3 DP调度优化方法奠定了基础。
Cooperative 3D printing (C3DP) is a novel approach to additive manufacturing, where multiple printhead-carrying mobile robots work cooperatively to print the desired part. The core of C3DP is the chunk-based printing strategy in which the desired part is first split into smaller chunks and then the chunks are assigned to individual robots to print and bond. These robots will work simultaneously in a scheduled sequence to print the entire part. Although promising, C3DP lacks a generative approach that enables automatic chunking and scheduling. In this study, we aim to develop a generative approach that can automatically generate different print schedules for a chunked object by exploring a larger solution space that is often beyond the capability of human cognition. The generative approach contains (1) a random generator of diverse print schedules based on an adjacency matrix that represents a directed dependency tree structure of chunks; (2) a set of geometric constraints against which the randomly generated schedules will be checked for validation, and (3) a printing time evaluator for comparing the performance of all valid schedules. We demonstrate the efficacy of the generative approach using two case studies: a large simple rectangular bar and a miniature folding sport utility vehicle (SUV) with more complicated geometry. This study demonstrates that the generative approach can generate a large number of different print schedules for collision-free C3DP, which cannot be explored solely using human heuristics. This generative approach lays the foundation for building the optimization approach of C3DP scheduling.
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构建协作 3D 打印系统
DOI：
10.1115/detc2020-22711
发表时间：
2020
期刊：
40th Computers and Information in Engineering Conference (CIE
影响因子：
--
作者：
Poudel, Laxmi;Marques, Lucas Galvan;Williams, Robert Austin;Hyden, Zachary;Guerra, Pablo;Fowler, Oliver Luke;Moquin, Stephen Joe;Sha, Zhenghui;Zhou, Wenchao
通讯作者：
Zhou, Wenchao
影响因子：
11
作者：
Bhatt, Prahar M.;Malhan, Rishi K.;Gupta, Satyandra K.
通讯作者：
Gupta, Satyandra K.
自动生成多机器人工作单元的装配序列
DOI：
--
发表时间：
1993
期刊：
影响因子：
--
作者：
J. Park;M. Chung
通讯作者：
M. Chung
多机器人协作三维打印的启发式缩放策略
影响因子：
3.1
作者：
Poudel, Laxmi;Blair, Chandler;McPherson, Jace;Sha, Zhenghui;Zhou, Wenchao
通讯作者：
Zhou, Wenchao
影响因子：
10.4
作者：
G. Chryssolouris;S. Chan;W. Cobb
通讯作者：
G. Chryssolouris;S. Chan;W. Cobb