LayerLock: Layer-Wise Collision-Free Multi-Robot Additive Manufacturing Using Topologically Interlocked Space-Filling Shapes
LayerLock: Layer-Wise Collision-Free Multi-Robot Additive Manufacturing Using Topologically Interlocked Space-Filling Shapes
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DOI：
10.1016/j.cad.2022.103392
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发表时间：
2022-08-19
影响因子：
4.3
通讯作者：
Sha, Zhenghui
中科院分区：
文献类型：
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作者：
Krishnamurthy, Vinayak;Poudel, Laxmi;Sha, Zhenghui
我们提出了LayerLock，这是一种同步多机器人添加剂制造（合作3D打印或C3DP）的方法。我们的方法基于Delaunay Lofts，这是一类拓扑互锁的形状，这些形状是通过堆叠基于墙纸对称性的一组移动Voronoi站点的Voronoi分区层产生的。我们的方法基于两个关键见解。首先，Delaunay Loft的每一层只是凸多边形的镶嵌，允许易于分配细胞以进行无碰撞的同时材料沉积。其次，Voronoi细胞沿层的独特过渡自然会导致拓扑互锁，从而提供了更好的能量吸收能力，以补偿由于分段打印而导致的结构强度损失。在这项工作中，我们将当前的研究限制为两机器人系统，并开发了由三个步骤组成的layerlock算法：（1）在Delaunay Loft每一层的基于距离的Voronoi单元格的距离划分，（2）移动移动 - 确定每个机器人细胞序列的前策略，以及（3）基于细胞序列的打印路径生成，这允许同步协作。我们评估算法的一系列几何参数，例如部分方向和细胞分辨率。我们还使用两个机器人合作3D打印平台实际上证明了它。 （c）2022 Elsevier Ltd.保留所有权利。
We present LayerLock, an approach for synchronous multi-robot additive manufacturing (cooperative 3D printing or C3DP). Our approach is based on Delaunay Lofts, a class of topologically interlocked shapes that are generated by stacking layers of Voronoi partitions of a set of moving Voronoi sites based on wallpaper symmetries. Our approach is based on two key insights. First, each layer of a Delaunay Loft is simply a tessellation of convex polygons allowing for easy division of cells for collision-free simultaneous material deposition. Second, the unique transition of Voronoi cells along the layers naturally leads to topological interlocking, thereby providing better energy absorption ability compensating for the loss of structural strength due to segmented printing. In this work, we constrain our current investigation to a two-robot system and develop the LayerLock algorithm consisting of three steps: (1) a distance-based division of the Voronoi cells at each layer of the Delaunay Loft, (2) a moving -front strategy for determining the sequence of cells for each robot, and (3) print path generation based on the cell sequence, which allows synchronous collaboration. We evaluate our algorithm for a range of geometric parameters such as part orientation and cell resolution. We also demonstrate it practically using a two-robot cooperative 3D printing platform. (C) 2022 Elsevier Ltd. All rights reserved.