Dual-Robot Nonplanar 3D Printing Path Planning and Compensation

The traditional planar layered printing process struggles to accommodate such complex geometries, while nonplanar layering printing offers promise. Yet, nonplanar layering printing encounters two key challenges: One is that nonplanar paths often cause extremely uneven interlayer path spacing; The other is that printing with large overhangs creates many difficulties. Therefore, this article proposes methods involving path compensation and a high degree-of-freedom dual-robot system to address these issues, which has more advantages when printing single-shell surfaces with high curvatures, overhangs, or branches. The proposed method operates in several stages: First, it derives the initial printing path and compensates for the path at sparse positions. Second, this method introduces a dynamic-based method to homogenize and optimize the compensated path. Finally, the study presents the derivation of the two robots' poses based on the printing path and conducts printing experiments. Additionally, the study compares and analyzes the compensation and homogenization results by different methods, validating their effectiveness.