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MODELAÇÃO E IMPLEMENTAÇÃO DE UMA IMPRESSORA 3D EM SISTEMA OPERATIVO ROBÓTICO
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Os processos de manufatura aditiva permitem a produção de peças com geometrias muito variadas e muito complexas, inalcançáveis aos processos de fabrico mais usuais. Devido a estas caraterísticas e a alguns avanços tecnológicos recentes, esta tecnologia tornou-se muito popular na década passada. Contudo os processos de manufatura aditiva, especialmente os que se usam nas impressoras de venda ao público, não permitem obter um bom rigor dimensional, nem um bom acabamento superficial e são propensos à inclusão de defeitos nas peças. Um dos motivos apontados para estes problemas é o sistema de controlo em anel aberto da maioria das impressoras 3D. Esta dissertação visa implementar um modelo virtual de uma impressora 3D de Fused Deposition Modeling (FDM) com controlo em anel fechado num ambiente de simulação do ROS e verificar se há melhorias nos problemas mencionados no parágrafo anterior. Foram realizadas impressões de teste na impressora virtual e impressões iguais numa impressora real da mesma marca e modelo. As medições dos desvios na simulação foram realizadas a partir de dados de posição em ordem ao tempo e nas impressões reais foram realizadas usando um paquímetro e uma régua. Os resultados não demonstraram uma superioridade no rigor dimensional das peças impressas em anel fechado. Sugere-se como possível solução a afinação dos ganhos dos controladores.
Additive manufacturing processes allow the production of parts with varied and very complex geometries, unattainable to the common manufacturing processes. Due to these characteristics and some recent technological advances, this technology has become very popular in the past decade. However, additive manufacturing processes, especially those used in printers sold to general public, can not attain good dimensional accuracy and good surface finish and are prone to the inclusion of defects in parts. One of the reasons given for these problems is the open-loop control system used in most 3D printers. This dissertation aims to implement a virtual model of a Fused Deposition Modeling (FDM) 3D printer with closed-loop control in a ROS simulation environment and to verify if there are improvements in the problems mentioned in the previous paragraph. Test prints were performed on the virtual printer and identical prints on a real printer of the same make and model. Deviation measurements in the simulation were performed using position-time data and were performed using a caliper and a ruler on the real prints. The results did not demonstrate superiority of the closed-loop printed parts in dimensional accuracy. Tuning the controller gains is suggested as a possible solution.
Additive manufacturing processes allow the production of parts with varied and very complex geometries, unattainable to the common manufacturing processes. Due to these characteristics and some recent technological advances, this technology has become very popular in the past decade. However, additive manufacturing processes, especially those used in printers sold to general public, can not attain good dimensional accuracy and good surface finish and are prone to the inclusion of defects in parts. One of the reasons given for these problems is the open-loop control system used in most 3D printers. This dissertation aims to implement a virtual model of a Fused Deposition Modeling (FDM) 3D printer with closed-loop control in a ROS simulation environment and to verify if there are improvements in the problems mentioned in the previous paragraph. Test prints were performed on the virtual printer and identical prints on a real printer of the same make and model. Deviation measurements in the simulation were performed using position-time data and were performed using a caliper and a ruler on the real prints. The results did not demonstrate superiority of the closed-loop printed parts in dimensional accuracy. Tuning the controller gains is suggested as a possible solution.
Descrição
Palavras-chave
Manufatura Aditiva (MA) Controlo em anel fechado Robotic Operating System (ROS) L ayer shifting e Fused Deposition Modeling (FDM)