On-line manipulation planning for two robot arms in a dynamic environment
International Journal of Robotics Research
Solid modeling and algorithms for heterogeneous objects
Solid modeling and algorithms for heterogeneous objects
Coordinating Multiple Robots with Kinodynamic Constraints Along Specified Paths
International Journal of Robotics Research
Rapid Manufacturing: An Industrial Revolution for the Digital Age
Rapid Manufacturing: An Industrial Revolution for the Digital Age
Planning Algorithms
Cooperative Cleaners: A Study in Ant Robotics
International Journal of Robotics Research
A versatile virtual prototyping system for rapid product development
Computers in Industry
A Complete and Scalable Strategy for Coordinating Multiple Robots Within Roadmaps
IEEE Transactions on Robotics
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This paper presents an approach to concurrent toolpath planning for multi-material layered manufacturing (MMLM) to improve the fabrication efficiency of relatively complex prototypes. The approach is based on decoupled motion planning for multiple moving objects, in which the toolpaths of a set of tools are independently planned and then coordinated to deposit materials concurrently. Relative tool positions are monitored and potential tool collisions detected at a predefined rate. When a potential collision between a pair of tools is detected, a dynamic priority scheme is applied to assign motion priorities of tools. The traverse speeds of tools along the x-axis are compared, and a higher priority is assigned to the tool at a higher traverse speed. A tool with a higher priority continues to deposit material along its original path, while the one with a lower priority gives way by pausing at a suitable point until the potential collision is eliminated. Moreover, the deposition speeds of tools can be adjusted to suit different material properties and fabrication requirements. The proposed approach has been incorporated in a multi-material virtual prototyping (MMVP) system. Digital fabrication of prototypes shows that it can substantially shorten the fabrication time of relatively complex multi-material objects. The approach can be adapted for process control of MMLM when appropriate hardware becomes available. It is expected to benefit various applications, such as advanced product manufacturing and biomedical fabrication.