lecture 6 part 2

  • Introduction to Toolpath Generation

    • The lecture discusses toolpath generation in robotic 3D printing using Rhino and Grasshopper.
    • A basic model of a plant pot is created to demonstrate the process.

  • Rhino and Grasshopper Overview

    • Rhino is a CAD software used for creating geometries.
    • Grasshopper is a visual scripting plugin for Rhino that allows users to interactively manipulate geometry.
    • Users can create curves and alter them directly through Grasshopper.

  • Creating Geometries in Grasshopper

    • Basic curves can be referenced and manipulated in Grasshopper.
    • Tools in Grasshopper allow for shifts in position (e.g., moving curves up along the z-axis and adjusting measurements through sliders).
    • Parametric design enables the flexibility of changing dimensions dynamically.
    • Grasshopper can automate repetitive tasks (e.g., copying a geometry multiple times).
    • Complex geometries can be formed through combinations of different components.

  • Working with Components

    • Components in Grasshopper are elements that require inputs (e.g., setting parameters like base plane, radius, and height for a cylinder).
    • Users can create parametric geometries like cylinders that can be modified based on input values.

  • Toolpath Creation Process

    • Toolpaths are created from geometric shapes, starting with a polysurface.
    • A contour component can extract contour lines from a surface, with adjustable distances reflecting layer heights.
    • Recommended layer height for U-R 10 robot is 1.5 mm.
    • Points are generated along these contours to guide the robot's movements during printing.
    • The ordering of points is crucial for ensuring the correct printing sequence from bottom to top.

  • Example of a Layered Toolpath

    • A visual representation helps check the working order of the toolpath.
    • The final polyline is created and baked back into Rhino for further manipulation.
    • The printing starts from the bottom to the top, following the defined points.

  • Complex and Innovative Geometries

    • An example involves creating an elongation of a shape intersected with a curved surface, using a tween curve feature to generate smooth transitions.
    • Layers are emphasized in robotic printing; unique designs take advantage of this aspect instead of minimizing layer visibility.
    • Another toolpath example involves creating a weave effect by alternating the movement of points inwards and outwards.

  • Final Toolpath and Simulation

    • After generating the toolpaths, they can be sent to a template code for simulation of the printing process.
    • The simulation displays the printing progression, helping identify any misalignments before actual printing.

  • Monitoring Printing Processes

    • The printed output is dependent on trial and error and adjustments to parameters like speed and temperature.
    • Previous prints are shown, displaying the success and required adjustments to the tooling paths.
    • Challenges faced include issues with layer heights causing failure in initial prints which are resolved through adjustments.

  • Conclusion

    • Robotic 3D printing is an evolving field with unique design opportunities.
    • The lecture encourages exploring this area further and engaging with the community.