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Computer Science > Robotics

arXiv:2105.08950 (cs)
[Submitted on 19 May 2021]

Title:Projector-Guided Non-Holonomic Mobile 3D Printing

Authors:Xuchu Xu, Ziteng Wang, Chen Feng
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Abstract:Fused deposition modeling (FDM) using mobile robots instead of the gantry-based 3D printer enables additive manufacturing at a larger scale with higher speed. This introduces challenges including accurate localization, control of the printhead, and design of a stable mobile manipulator with low vibrations and proper degrees of freedom. We proposed and developed a low-cost non-holonomic mobile 3D printing system guided by a projector via learning-based visual servo-ing. It requires almost no manual calibration of the system parameters. Using a regular top-down projector without any expensive external localization device for pose feedback, this system enabled mobile robots to accurately follow pre-designed millimeter-level printing trajectories with speed control. We evaluate the system in terms of its trajectory accuracy and printing quality compared with original 3D designs. We further demonstrated the potential of this system using two such mobile robots to collaboratively print a 3D object with dimensions of 80cm x 30cm size, which exceeds the limitation of common desktop FDM 3D printers.
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2105.08950 [cs.RO]
  (or arXiv:2105.08950v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2105.08950

Submission history

From: Xuchu Xu [view email]
[v1] Wed, 19 May 2021 06:49:10 UTC (1,493 KB)
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