Projector-Guided Non-Holonomic Mobile 3D Printing
Projector-Guided Non-Holonomic Mobile 3D Printing
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DOI：
10.1109/icra48506.2021.9561719
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发表时间：
2021-05
期刊：
影响因子：
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通讯作者：
Xuchu Xu;Ziteng Wang;Chen Feng
中科院分区：
文献类型：
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作者：
Xuchu Xu;Ziteng Wang;Chen Feng
使用移动机器人而非基于龙门架的3D打印机的熔融沉积成型（FDM）能够以更大规模和更高速度进行增材制造。这带来了一些挑战，包括精确定位、打印头的控制以及设计一个具有低振动和适当自由度的稳定移动操作器。我们提出并开发了一种低成本的非完整约束移动3D打印系统，该系统通过基于学习的视觉伺服由投影仪引导，几乎不需要对系统参数进行手动校准。使用常规的自上而下的投影仪，无需任何昂贵的外部定位设备来进行位姿反馈，该系统使移动机器人能够在速度控制下精确地遵循预先设计的毫米级打印轨迹。我们从轨迹精度和打印质量方面与原始3D设计进行比较来评估该系统。我们还通过使用两个这样的移动机器人协作打印一个尺寸为80厘米×30厘米的3D物体展示了该系统的潜力，这超出了普通桌面FDM 3D打印机的限制。
Fused deposition modeling (FDM) using mobile robots instead of the gantry-based 3D printer enables additive manufacturing at a larger scale with higher speed. This introduces challenges including accurate localization, control of the printhead, and design of a stable mobile manipulator with low vibrations and proper degrees of freedom. We proposed and developed a low-cost non-holonomic mobile 3D printing system guided by a projector via learning-based visual servoing. It requires almost no manual calibration of the system parameters. Using a regular top-down projector without any expensive external localization device for pose feedback, this system enabled mobile robots to accurately follow pre-designed millimeter-level printing trajectories with speed control. We evaluate the system in terms of its trajectory accuracy and printing quality compared with original 3D designs. We further demonstrated the potential of this system using two such mobile robots to collaboratively print a 3D object with dimensions of 80 cm × 30 cm size, which exceeds the limitation of common desktop FDM 3D printers.