Robotics Wire Arc Additive Manufacturing (WAAM) Testbed at RPI скачать в хорошем качестве

Robotics Wire Arc Additive Manufacturing (WAAM) Testbed at RPI

WAAM (wire arc additive manufacturing) is a promising 3-D metal printing technology that uses an arc heat source to melt metal wires and deposit the resulting liquid droplets. Combining the weld head with an articulated robot allows the deposition to form desired 3D shapes. A pan-tilt positioner usually supports the deposited part to align welding with gravity direction. This video shows the progress of robotics WAAM technology at Rensselaer Polytechnic Institute (funded in part by the ARM Institute). Together with Wason Technology, we developed a software architecture that integrates multiple robots and sensors using Robot Raconteur. This architecture supports an end-to-end, CAD-to-part, workflow that can print a variety of complex parts. We also developed a configuration-dependent robot kinematics calibration method (for both welding and monitoring robots, and the 2-dof positioner) using an OptiTrak motion capture system. Part fidelity is compared is verified using a metrology 3D scanner.