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id caadria2020_062
authors Lu, Ming and Yuan, Philip F.
year 2020
title A New Algorithm to Get Optimized Target Plane on 6-Axis Robot For Fabrication
source D. Holzer, W. Nakapan, A. Globa, I. Koh (eds.), RE: Anthropocene, Design in the Age of Humans - Proceedings of the 25th CAADRIA Conference - Volume 2, Chulalongkorn University, Bangkok, Thailand, 5-6 August 2020, pp. 393-402
summary In usual robotic fabrication by 6 axis industrial robot such as KUKA ,ABB and other brands ,the usual robot's 4th ,5th and 6th axis is exactly converge in one point .When this type robot (pieper) is doing movement commands ,setting the degree of 4th axis close to zero is an ideal condition for motion stability ,especially for putting device which connect to tool head on 4th axis arm part.In plastic melting or others print which not cares the rotation angle about the printing direction(the printing direction means the effector's output normal direction vector, KUKA is X axis,ABB is Z axis) ,the optimization of 4th axis technology not only makes printing stable but also makes better quality for printing.The paper introduces a new algorithm to get the analytics solution.The algorithm is clear explained by mathematics and geometry ways. At the end of paper, a grasshopper custom plugin is provided ,which contains this new algorithm ,with this plugin, people can get the optimized target path plane more easily.
keywords 3D printing; brick fabrication; robotic; optimization algorithm; grasshopper plugin
series CAADRIA
email philipyuan007@tongji.edu.cn
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Details Citation Select
100%; open Craig, JJ (2017) Find in CUMINCAD Introduction to Robotics: Mechanics and Control (4th Edition) , Pearson

100%; open Spong, MW, Hutchinson, Seth and Vidyasagar, M. (2005) Find in CUMINCAD Robot Modeling and Control , Wiley

100%; open Strang, G (2009) Find in CUMINCAD Introduction to Linear Algebra 4th Edition , Wellesley-Cambridge Press

last changed 2020/08/14 18:40
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