| id |
artificial_intellicence2019_87 |
| authors |
Ming Lu, Wei Ran Zhu, and Philip F. Yuan |
| year |
2020 |
| title |
Toward a Collaborative Robotic Platform: FUROBOT |
| source |
Architectural Intelligence Selected Papers from the 1st International Conference on Computational Design and Robotic Fabrication (CDRF 2021) |
| doi |
https://doi.org/https://doi.org/10.1007/978-981-15-6568-7_6
|
| summary |
In usual robotic fabrication by 6-axis industrial robots such as KUKA, ABB, and other brands, the usual robot’s 4th, 5th, and 6th axis is exactly converged 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 connects 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 clearly explained by mathematics and geometry ways. At the end of the 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. |
| series |
Architectural Intelligence |
| email |
|
| full text |
 file.pdf (1,201,669 bytes) |
| references |
Content-type: text/plain
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| last changed |
2022/09/29 07:28 |
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