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3D Printing using an Industrial Robotic Arm and a Cellulose based filament
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
3D Utskrift med en Industriell Robot och Cellulosabaserad tråd (Swedish)
Abstract [en]

3D printing is today done with plastic or metals. Material properties of plastics are too poor in some cases for desired applications. 3D printing is also limited by the need to print in horizontal layers. This thesis project investigates how a continuous thread of cellulose based filament reinforced with a binding material can be used instead in the 3D printing process to increase the material properties and how it can be severed at the end of a print sequence. The use of cellulose based filament is proposed to promote a more environmentally friendly material as opposed to pure plastic-based materials. The thesis also investigates how to print in a non-horizontal fashion using a robotic arm and spatial printing. A printer head was developed to include the continuous thread in the printing process and to cut it when desired. The head was developed so that it could be attached to an ABB robotic arm so as to allow spatial printing. To fully utilize the robot for 3D printing purposes a software interface was developed and adapted. The full system was tested against test cases to find the optimal printing parameters. The results show that the developed hardware was able to cut the continuous thread at desired intervals and the developed software was able to generate the necessary instructions for the ABB robot and printer head to complete a 3D printing sequence. The final system was deemed partially successful but needs further development for practical applications.

Abstract [sv]

Plast och metall är vanliga material i 3D-skrivare, tyvärr har det visat sig att plasten som används i vanliga 3d-skrivare inte är tillräckligt stark för vissa tillämpningar. Ett annat problem är att de flesta 3D-skrivare är begränsade av att bara kunna bygga modeller i horisontella lager. Examensarbetet utforskar en metod för att förstärka plast med en cellulosa tråd för att få ett starkare material vid 3D utskrifter. Tanken med tråden är att den ska möjliggöra utskrifter i ickehorisontella plan. Examensarbetet utforskar även hur man ska kapa tråden. Ett skrivarhuvud utvecklades som använder plast och en cellulosa tråd för att bygga modeller. För att använda skrivarhuvudet utvecklades mjukvara som kan styra robotarmen och skrivarhuvudet, inklusive den integrerade mekanismen för att kapa tråden. Det färdiga systemet prövades på testfall för att hitta de bästa inställningarna. Resultatet visade att den utvecklade hårdvaran kunde kapa tråden vid önskade tillfällen och att mjukvaran kunde generera instruktioner för att styra roboten och skrivarhuvudet i en utskrift. Det färdiga systemet bedömdes delvis klara av uppgiften men behöver viss vidareutveckling före den kan användas i praktiska sammanhang.

Place, publisher, year, edition, pages
2019. , p. 98
Series
TRITA-ITM-EX ; 2019:719
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-266094OAI: oai:DiVA.org:kth-266094DiVA, id: diva2:1381116
Subject / course
Mechatronics
Educational program
Degree of Master
Presentation
2019-12-19, 00:00
Supervisors
Examiners
Available from: 2019-12-20 Created: 2019-12-20 Last updated: 2019-12-20Bibliographically approved

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