Motion of 6-Axis Articulated Robot for Embedding Continuous filament-type object in Assembly-Process-Integrated AM

Abstract

In recent years, advancements in Additive Manufacturing technology have led to extensive research on fabrication using devices with high degrees of freedom. Among these, methods have been proposed that utilize robots to directly embed Continuous filament-type object into grooves. However, if the robot has a low degree of freedom, twists can occur during embedding when the groove path is complex. Therefore, this study aims to perform embedding of Continuous filament-type object using 6-axis articulated robot with high degrees of freedom. Specifically, the objective is to propose a method for controlling the position and orientation of the end effector according to the groove path to eliminate twists during embedding. As a result, succeeded in eliminating the twist and embedding the tube.