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The step effect and support structure generated by the manufacturing process of fused deposition molding parts increase the consumables cost and decrease the printing quality. Multiorientation printing helps improve the surface quality of parts and reduce support, but path interference exists between the printing layer and the layers printed. The purpose of this study is to design printing paths between different submodels to avoid interference when build orientation changed.

Considering support constraint, build orientation sequence is designed for submodels decomposed by model topology. The minimum printing angle between printing layers is analyzed. Initial path through the oriented bounding box is planned and slice interference relationship is then detected according to the projection topology mapping. Based on the relationship matrix of multiorientation slice, feasible path is calculated by directed graph (DG). Final printing path is determined under support constraint and checked by minimum printing angle. The simulation model of the robotic arm is established to verify the accessibility of printing path under the constraint of support and slice.

The proposed method can reduce support structure, decrease volume error and effectively solve the interference problem of the printing path for multiorientation slice.

The method based on projection topology mapping greatly improves the efficiency of interference detection. A feasible path calculated through DGs ensures the effectiveness of the printing path with the constraint of support and slice.

Most rapid prototyping (RP) relies on energy fields to handle materials, among which electricity has been much more utilized, resulting in distinctive responsiveness of non-linear, overshoot, variable inertia, etc. The purpose of this paper is to eliminate the drawbacks of array nozzle clogging, stringing, melt sagging, particularly in multi-material RP, by focusing on the electrothermal response so as to adaptively distribute thermal more accurate, rapid and balanced.

This paper presents an electrothermal response optimization method of nozzle structure for multi-material RP based on fuzzy adaptive control (FAC). The structural, physical and control model are successively logically built. The fractional order electrothermal model is identified by Riemann Liouville fractional differential equation, using the bisection method to approximate the physical model via least square method to minimize residual sum of squares. The FAC is thereafter implemented by defining fuzzy proportion integration differentiation control rules and fuzzy membership functions for fuzzy inference and defuzzification.

The transient thermodynamic and structural statics, as well as flow field analysis, are conducted. The response time, mean temperature difference and thermal deformation can be found using thermal-solid coupling finite element analysis. In physical experimental research, temperature change, together with material extrusion loading, were measured. Both numerical and physical studies have revealed findings that the electrothermal responsiveness varies with the three-dimensional structure, materials and energy sources, which can be optimized by FAC.

The proposed FAC provides an optimization method for extrusion-based multi-material RP between the balance of thermal response and energy efficiency through fulfilling potential of the hardware configuration. The originality may be widely adopted alongside increasing requirements on high quality and high efficiency RP.

Compared with cusp height and area deviation ratio, volume error (VE) caused by the layer height could represent the stair-case effect more comprehensively. The proposed relative volume error (RVE)-based adaptive slicing method takes VE rather than cusp height as slicing criteria, which can improve part surface quality for functionalized additive manufacturing.

This paper proposes a volumetric adaptive slicing method of manifold mesh for rapid prototyping based on RVE. The pre-height sequences of manifold mesh are first preset to reduce the SE by dividing the whole layer sequence into several parts. A breadth-first search-based algorithm has been developed to generate a solid voxelization to get VE. A new parameter RVE is proposed to evaluate the VE caused by the sequence of the layer positions. The RVE slicing is conducted by iteratively adjusting the layer height sequences under different constraint conditions.

Three manifold models are used to verify the proposed method. Compared with uniform slicing with 0.2 mm layer height, cusp height-based method and area deviation-based method, the standard deviations of RVE of all three models are improved under the proposed method. The surface roughness measured by the confocal laser scanning microscope proves that the proposed RVE method can greatly improve part surface quality by minimizing RVE.

This paper proposes an RVE-based method to balance the surface quality and print time. RVE could be calculated by voxelized parts with required accuracy at a very fast speed by parallel.

The coupling impact of hybrid uncertain errors on the machine precision is complex, as a result of which the designing method with multiple independent error sources under uncertainties remains a challenge. For the purpose of precision improvement, this paper focuses on the robot design and aims to present an assembly precision design method based on uncertain hybrid tolerance allocation (UHTA), to improve the positioning precision of the mechanized robot, as well as realize high precision positioning within the workspace.

The fundamentals of the parallel mechanism are introduced first to implement concept design of a 3-R(4S) &3-SS parallel robot. The kinematic modeling of the robot is carried out, and the performance indexes of the robot are calculated via Jacobian matrix, on the basis of which, the 3D spatial overall workspace can be quantified and visualized, under the constraints of limited rod, to avoid the singular position. The error of the robot is described, and a probabilistic error model is hereby developed to classify the hybrid error sensitivity of each independent uncertain error source by Monte Carlo stochastic method. Most innovatively, a methodology called UHTA is proposed to optimize the robot precision, and the tolerance allocation approach is conducted to reduce the overall error amplitude and improve the robotized positioning precision, on the premise of not increasing assembly cost.

The proposed approach is validated by digital simulation of medical puncture robot. The experiment highlights the mathematical findings that the horizontal plane positioning error of the parallel robotic mechanism can be effectively reduced after using UHTA, and the average precision can be improved by up to 39.54%.

The originality lies in UHTA-based precision design method for parallel robots. The proposed method has widely expanding application scenarios in industrial robots, biomedical robots and other assembly automation fields.