6-AXIS 3D PRINTING
ROBOT
2021H1410080G
2021H1410083G
2021H1410089G
2021H1060142G
Mid Semester Report
BITS Pilani, KK Birla Goa Campus
LIST OF CONTENTS
Name of contents
Page No
1.Abstract
2
2.Introduction with literature review
3
3.Project methodology and implementation overview
5
3.1 Modelling in CAD
5
3.2 Analysis And simulation Of Robot
5
3.3 Forward Kinematics
5
3.4 Inverse Kinematics
5
4. Current state of the project
5
5. Preliminary design
6
6. Timeline and completion percentage
9
7. Future plan of work
10
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6-AXIS 3D PRINTING ROBOT
BITS Pilani, KK Birla Goa Campus
(1) ABSTRACT
Traditional 3-D Printers have a disadvantage that it cannot print curved surfaces due to the nature of its
nozzle movement. Also, movements of printing nozzles are slow and speed range is limited.
A 6 Axis Articulated Robot will overcome this with a wider range of speed and more degree of freedom. 6
Axis Articulated robot can print more complex shapes, better curvature and larger objects. It is also more
portable compared to Traditional 3-D printers.
The aim is to circumvent the normal automated process to instead control the 3D printer directly to allow
for the manipulation of materials in continuous and free-form ways.
The goal is to transform materials into new states that are difficult or impossible to achieve using traditional
methods.
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6-AXIS 3D PRINTING ROBOT
BITS Pilani, KK Birla Goa Campus
(2) INTRODUCTION AND LITERATURE REVIEW
A 3D printer creates a three-dimensional item from a CAD file in 3D printing. Although 3D printing has
been known since the 1980s, machines were mostly utilized for industrial purposes and were extremely
expensive until 2009. However, it is currently used by most businesses.
There is a large variety of literature worldwide regarding robotics, industrial automation, and 3D printingbased. In this section, key sources such as journal articles, books and relevant open sources are studied and
highlighted the main aspects that provided sufficient insight into the topic of the paper.
[1] reviewed the study of printing of non-developable curved panels using existing 3D concrete printing
technology combined with a novel Adaptable Membrane Formwork. Using this method, they were able to
3D-print, for the first time, Saddle and Dome-shaped concrete surfaces. The proposed method thus
demonstrates great potential for the 3D printing of freeform, curved surfaces.
[1]
[2] Nils Bausch etc. proposed a new methodology, which combines 3D scanning, multiple axis 3D printing,
and conformal printing to create an affordable 3D printing system, which can deposit material onto a prior
unknown uneven surface.
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6-AXIS 3D PRINTING ROBOT
BITS Pilani, KK Birla Goa Campus
[3] The paper presents a fast and exact trajectory control scheme for articulated robot arms with elastic joints
due to reduction gears. This scheme provides a practical solution for sophisticated motion control of general
industrial robots using motor side measurements only.
[3]
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6-AXIS 3D PRINTING ROBOT
BITS Pilani, KK Birla Goa Campus
(3) PROJECT METHODOLOGY AND IMPLEMENTATION OVERVIEW
Modeling In CAD
We used SOLIDWORKS to design each and individual component of the robot. We gathered our data of
motors and end effectors form the OEMs and robotics community forums. We used the combination of both
servo and stepper motor to get a balance between torque and precision in the motion of the robot.
Analysis And Simulation of Robot
Both static and kinematic analysis are performed using ANSYS. We are using solidworks to do motion
study of the robot.
Forward Kinematics
Forward kinematics analysis is the procedure where position and orientation of the end-effector are determined with
given joint angles. This process is implemented by applying 4x4 homogeneous matrices with given values from each
frame to the previous one. We are using MATLAB to solve the forward kinematics
Inverse Kinematics
Inverse kinematic analysis is often difficult unlike direct kinematics. This is due to the complexity and
variety of possible solutions of articular angles. The inverse kinematics is the inverse of forward kinematics,
and the goal is to determine the articulation angle solution while the positional coordinates of the effector
are given. The inverse kinematics can be solved geometrically or analytically. We are using cad models to
get the angles of links with the help of motion study. We are using MATLAB to solve them analytically.
(4) CURRENT STATE OF PROJECT
We've started designing our robot. To do this, we're building two distinct robots and optimizing them via
forward kinematics, static analysis, and dynamic analysis.
Both design alternatives are still in their infancy. We'll select the best of both after a few iterations.
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6-AXIS 3D PRINTING ROBOT
BITS Pilani, KK Birla Goa Campus
(5) PRELIMINARY DESIGN
Below are images of one of our designed variants.
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6-AXIS 3D PRINTING ROBOT
BITS Pilani, KK Birla Goa Campus
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6-AXIS 3D PRINTING ROBOT
BITS Pilani, KK Birla Goa Campus
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6-AXIS 3D PRINTING ROBOT
BITS Pilani, KK Birla Goa Campus
(6) Timeline and completion percentage
We have completed 40% of our project and we are working on designing and mathematical
modeling.
We will begin to work on analysis and simulation part after finalizing the DH parameters.
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6-AXIS 3D PRINTING ROBOT
BITS Pilani, KK Birla Goa Campus
(7) FUTURE PLAN OF WORK
We intend to improve our design even further. We'll go through a few iterations to optimize our design
using results obtained from forward kinematics, static analysis, and dynamic analysis, following which we'll
finalize component and actuator specifications.
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6-AXIS 3D PRINTING ROBOT