Path Generation for Foam Additive Manufacturing of Large Parts with a Cable-Driven Parallel Robot

Elodie Paquet (1, 2, 3, 4) , Marceau Metillon (1, 2) , Kevin Subrin (3, 1, 2, 4) , Benoit Furet (3, 1, 2, 4) , Stéphane Caro (5, 1, 2)

1 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 Nantes Université - pôle Sciences et technologie
4 Nantes Univ - IUT Nantes - Institut Universitaire de Technologie - Nantes
5 CNRS - Centre National de la Recherche Scientifique

In this paper, a framework for foam printing with a Cable-Driven Parallel Robot (CDPR) is described for building large parts. Compared with the traditional robotic systems, CD-PRs have a large workspace that can include the printing area. In addition, the potential reconfigurability of CDPRs is an asset to get rid of the collisions between the cables and the environment during the execution of the printing task. The printing feasibility is verified through the process identification where key parameters are used in the proposed control law. The features to be taken into account through a framework to make a successful printing with a CDPR are described. Finally, advantages and drawbacks of CDPRs for additive manufacturing are discussed and future work is presented.

Mots clés: Additive Manufacturing; Cable-Driven Parallel Robot; Innovative Construction

Domaines: Génie mécanique [physics.class-ph]; Automatique / Robotique

Elodie Paquet, Marceau Metillon, Kevin Subrin, Benoit Furet, Stéphane Caro. Path Generation for Foam Additive Manufacturing of Large Parts with a Cable-Driven Parallel Robot. 39th International Symposium on Automation and Robotics in Construction (ISARC 2022), Jul 2022, Bogota, Colombia. ⟨hal-03681505⟩