Collaborative control method for 3D printing motion-extrusion of six-axis robot arm with granular material based on speed smoothing and forward compensation

doi:10.16731/j.cnki.1671-3133.2025.09.004

Abstract

Abstract: The existing collaborative control methods for the extrusion and the movement of six-axis robotic arms are mostly focused on filament extrusion methods,while the optimization for granular material extrusion methods is limited. To address the issue of motion asynchrony between end-effector motion speed and material extrusion speed in six-axis robotic arm granular material 3D printing,a six-axis robotic arm granular material 3D printer is constructed,and a coordinated control approach for six-axis robotic arm granular material 3D printing system based on speed smoothing and look-ahead algorithm is proposed. Optimization is carried out for working conditions such as lifting points,and corner points.The results indicate that the line width of the printed parts is uniform,the material accumulation or missing can be avoided,and the feasibility of this method is verified.

Key words: six-axis robot arm, 3D printing, speed smoothing, forward compensation, collaborative control

CLC Number:

TH166

LIU Qinxiang, ZHANG Qiuju, SUN Yilin. Collaborative control method for 3D printing motion-extrusion of six-axis robot arm with granular material based on speed smoothing and forward compensation[J]. Modern Manufacturing Engineering, 2025, 540(9): 25-32.

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