The printing directions of all parts are also determined during the computation of model decomposition.
A new algorithm is developed to decompose models into support-free parts that can be printed one by one in a collision-free sequence. Different from conventional FDM, an input model fabricated by RoboFDM is printed along different directions at different places. The fabrication of 3D models in this system follows the principle of fused decomposition modeling (FDM). The hardware of RoboFDM consists of a robotic arm providing 6-DOF motion to the platform of material accumulation and an extruder forming molten filaments of polylactic acid (PLA). Experiments have been successfully taken on our RoboFDM system to print general freeform objects in a support-free manner.ĪB - This paper presents a robotic system - RoboFDM that targets at printing 3D models without support-structures, which is considered as the major restriction to the flexibility of 3D printing. N2 - This paper presents a robotic system - RoboFDM that targets at printing 3D models without support-structures, which is considered as the major restriction to the flexibility of 3D printing. T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
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