Automatic Print Bed Leveling for Industrial Robot Systems

Le résumé fourni par la source

Additive manufacturing with 3D-printers enables the creation of any kind of object by printing it layer by layer.However, the object size and complexity that can be reliably produced with standard industrial applications is limited by the 3Dprinter's size and degrees of freedom.In contrast, industrial robots typically have larger work envelopes and more degrees of freedom.Combining a robotic system with a 3D-printer increases the possible print area and thus the opportunity to create bigger objects.However, a larger print surface becomes increasingly uneven because of mechanical constraints and deformation caused by heat, reducing the adhesion quality.Adhesion is required to achieve a high product quality, or even a successful print at all.The UAS Technikum Wien Digital Factory robotic printing system consists of an ABB IRB 2400 and a custom-built print bed.This allows the production of objects with a surface area of over 3 m² in a short time span, which allows for faster prototyping durations of different projects.However, the adhesion properties suffer severely.This report describes the implementation and evaluation of an automatic print bed leveling system, as well as the possibility to print on curved surfaces.A grid-based probing approach controlled by using a touch probe sensor with an appropriate mounting and offset calculation was designed to compensate for the disadvantage of the sizable print bed.This results in a higher percentage of even surface area and therefore to an increase in overall adhesion quality.For printing on curved surfaces, it is recommended to further expand the system using a collision check as well as an orientation interpolation.

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