Singularity-Aware Motion Planning for Multi-Axis Additive Manufacturing

Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms these machines include three parallel axes and two rotational axes. Singularity on is a critical issue to be tackled in planning for ensuring quality results. highly nonlinear mapping the singular region can convert smooth toolpath with uniformly sampled waypoints defined model coordinate system into discontinuous machine system, which leads over-extrusion/ under-extrusion materials filament-based manufacturing. problem challenging as both maximal minimal speeds at tip printer head must controlled motion. Moreover, collision may occur when sampling-based avoidance employed. In this letter, we present method support realization designed toolpaths multi-axis Problems singularity are considered an integrated manner improve therefore fabrication.