工艺与制造英文2021被引 9
基于LiDAR的多机器人协作连续碳纤维增强复合材料三维打印
LiDAR Based Multi-Robot Cooperation for the 3D Printing of Continuous Carbon Fiber Reinforced Composite Structures
Nanya Li, G. Link, Junhui Ma, John Jelonnek · Karlsruhe Institute of Technology
摘要整理
连续碳纤维增强塑料（CCFRP）的三维打印技术改变了传统复合材料制造工艺。连续碳纤维增强塑料长丝可沿着载荷传递路径打印，显著提高复合材料结构的强度。与三轴数控（CNC）机床打印工艺相比，工业机器人能够制造复杂的空间结构和大尺寸复合材料构件。本文提出了多机器人协作同时打印复杂空间CCFRP构件的新概念。多台6自由度工业机器人可相互协作，解决结构复杂性与打印可达性之间的矛盾。在打印过程中，复合材料结构可能发生变形，特别是对于自支撑构件。因此，本文引入光学检测与测距（LiDAR）方法来检测已打印复合材料结构的变形和两台UR机器人的运动。在一台机器人上安装了LiDAR相机D435i以获取打印结构的点云数据。开发了一种结合坐标变换和迭代最近点（ICP）算法的新方法，用于融合从相机不同拍摄角度采集的点云数据。
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