Publications / 2022 Proceedings of the 39th ISARC, Bogotá, Colombia

Path Generation for Foam Additive Manufacturing of Large Parts with a Cable-Driven Parallel Robot

Elodie Paquet, Marceau Metillon, Kevin Subrin, Benoit Furet and Stéphane Caro
Pages 399-405 (2022 Proceedings of the 39th ISARC, Bogotá, Colombia, ISBN 978-952-69524-2-0, ISSN 2413-5844)

In this paper, a framework for foam printing with a Cable-Driven Parallel Robot (CDPR) is described for building large parts. Compared with the traditional robotic systems, CD-PRs have a large workspace that can include the printing area. In addition, the potential reconfigurability of CDPRs is an asset to get rid of the collisions between the cables and the environment during the execution of the printing task. The printing feasibility is verified through the process iden-tification where key parameters are used in the proposed control law. The features to be taken into account through a framework to make a successful printing with a CDPR are described. Finally, advantages and drawbacks of CDPRs for additive manufacturing are discussed and future work is presented.

Keywords: Additive Manufacturing; Cable-Driven Parallel Robot; Innovative Construction