Journal of the Institute of Electronics Engineers of Korea SC (전자공학회논문지SC)

The Institute of Electronics and Information Engineers (대한전자공학회)
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A Study on the Implementation of an Agile SFFS Based on 5DOF Manipulator

5축 매니퓰레이터를 이용한 쾌속 임의형상제작시스템의 구현에 관한 연구

  • Kim Seung-Woo (Soonchunhyang University, Division of Information Technology Engineering) ;
  • Jung Yong-Rae (Soonchunhyang University, Division of Information Technology Engineering)
  • 김승우 (순천향대학교 정보제어공학부) ;
  • 정용래 (순천향대학교 정보제어공학부)
  • Published : 2005.01.01
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Abstract

Several Solid Freeform Fabrication Systems(SFFS) are commercialized in a few companies for rapid prototyping. However, they have many technical problems including the limitation of applicable materials. A new method of agile prototyping is required for the recent manufacturing environments of multi-item and small quantity production. The objectives of this paper include the development of a novel method of SFFS, the CAFL/sup VM/(Computer Aided Fabrication of Lamination for Various Material), and the manufacture of the various material samples for the certification of the proposed system and the creation of new application areas. For these objectives, the technologies for a highly accurate robot path control, the optimization of support structure, CAD modeling, adaptive slicing was implemented. However, there is an important problem with the conventional 2D lamination method. That is the inaccuracy of 3D model surface, which is caused by the stair-type surface generated in virtue of vertical 2D cutting. In this paper, We design the new control algorithm that guarantees the constant speed, precise positioning and tangential cutting on the 5DOF SFFS. We develop the tangential cutting algorithm to be controlled with constant speed and successfully implemented in the 5DOF CAFL/sup VM/ system developed in this paper. Finally, this paper confirms its high-performance through the experimental results from the application into CAFL/sup VM/ system.

본 연구에서는 다양한 재료의 시트(Sheet)를 각각 절단하여 적층하는 방법으로 기존 적층조형법과는 다른 쾌속 임의형상제작 시스템인 CAFL/sup VM/(Computer Aided Fabrication of Lamination for Various Material)을 제안한다. 이러한 조형 방법은 가공 속도를 빠르게 하며 복잡한 후처리 과정을윽 대폭 줄일 수 있고, 여러 가지 재료가 사용 가능한 장점을 지니고 있다. 이러한 목적으로 개발된 2자유도의 X-Y테이블 형태의 CAFL/sup VM/은 레이저빔으로 시트(Sheet)를 절단, 적층하여 조형물을 완성하는 새로운 고속적층 시스템으로 가능성을 검증하였다. 하지만 2자유도 시스템은 X-Y 평면을 이동하는 작업공간에 수직으로 레이저 가공이 이루어지는 방법으로, 조형된 사물의 표면에 계단 형상이 나타나는 표면정밀도상의 문제점을 드러낸다. 이러한 문제점을 해결하고자 2자유도에 3자유도를 추가한 5자유도 시스템을 제안하여 레이저의 경사절단이 가능하게 함으로서 조형된 사물의 표면 정밀도를 높이고, 일정한 패턴의 모양을 갖는 조형물 가공의 경우 여러 시트(Sheet)가 적층되는 부분을 한번에 가공할 수 있도록 하여 보다 빠르고 정밀한 5자유도 매니퓰레이터 CAFL/sup VM/ 시스템을 설계한다. 즉, 정속경로제어와 경사각절단제어를 구현하고 그 외에 수반된 자동화 CAFL/sup VM/ 시스템을 구현하는 것이 본 논문의 목적이다.

Keywords

References

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