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Fabrication additive de tubulures par dépôt de fil robotisé multi-axes : génération et optimisation de trajectoires

Abstract : Additive manufacturing through Directed Energy Deposition (DED) enables small batches of parts to be rapidly manufactured. However, manufacturing trajectories usually used for the manufacture of overhanging parts require the use of supports, material which is not useful for the finished part and time consuming. If multi-axis trajectories can be used to avoid them, they present generally a heterogeneous local inter-layer distance, thus requiring a variation of the deposition parameters to adapt the layer height ; variation that can be harmful to the mechanical characteristics of the final part. This thesis first proposes a constant local inter-layer trajectory generation method for DED additive manufacturing of tubular parts defined by parametric curves and which can have profile radius variations. The proposed trajectories have been validated by robotized manufacturing trials of polymer parts. Since the rotation about a coaxial deposition tool axis has no impact on the deposit, the use of 6-axis robots offers a redundancy. Using this redundancy, a layer by layer optimization of the trajectory in the robot space is then proposed. In a constrained robot configuration, the trajectory optimization allows the manufacturing of parts that cannot be manufactured in the usual way, and improves the geometrical quality of the parts with a better repeatability.
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Submitted on : Friday, May 28, 2021 - 10:38:30 AM
Last modification on : Saturday, May 29, 2021 - 3:14:46 AM
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  • HAL Id : tel-03240568, version 1



Maxime Chalvin. Fabrication additive de tubulures par dépôt de fil robotisé multi-axes : génération et optimisation de trajectoires. Génie mécanique [physics.class-ph]. Université de Toulon, 2020. Français. ⟨NNT : 2020TOUL0010⟩. ⟨tel-03240568⟩



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