Design and Optimization of a Control Framework for Robot Assisted Additive Manufacturing Based on the Stewart Platform
Tamir, Tariku Sinshaw; Xiong,Gang; Dong,Xisong; Fang,Qihang; Liu,Sheng; Lodhi,Ehtisham; Shen,Zhen; Wang, Fei-Yue
Source PublicationInternational Journal of Control, Automation and Systems
2022-03
Volume20Issue:3Pages:968-982
Abstract

Additive manufacturing, also known as 3D printing, is an emerging technology. The existing additive manufacturing technologies deploy 3-axis printing mechanism where the material accumulation grows only in the z-direction. This results in limited printing freedom. Apart from this, support structures are needed to print overhang structures. Removal of these support mechanism ultimately reduces print quality. This paper proposes a novel robotassisted additive manufacturing along with a control system framework, which possesses multi-directional printing without support structures. Taking the advantage of its high stiffness and high payload-to-weight ratio, a 6-degree of freedom Stewart platform manipulator is designed to substitute the printer build plate. The kinematics and dynamics of the manipulator is formulated. Then, an extended proportion-derivation sliding mode controller is designed for trajectory tracking. The modified grey wolf optimization algorithm is applied to compute the optimal controller parameters. The integral absolute error (IAE) is used as a cost function and its global minimum value is reached in the iteration interval [75,100]. The analytical model simulation in MATLAB is run for 10 seconds, and the results show that the desired length trajectories of the six legs of the manipulator are achieved after 3.5 seconds. The performance of the analytical model is verified on the automated dynamic analysis of mechanical systems (ADAMS).

KeywordAdditive Manufacturing, Extended Proportion-Derivation Sliding Mode Controller, Grey Wolf Optimization, Print Quality, Stewart Platform
Indexed BySCI
Language英语
WOS IDWOS:000767788700024
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/47488
Collection复杂系统管理与控制国家重点实验室_平行智能技术与系统团队
Corresponding AuthorShen,Zhen
Recommended Citation
GB/T 7714
Tamir, Tariku Sinshaw,Xiong,Gang,Dong,Xisong,et al. Design and Optimization of a Control Framework for Robot Assisted Additive Manufacturing Based on the Stewart Platform[J]. International Journal of Control, Automation and Systems,2022,20(3):968-982.
APA Tamir, Tariku Sinshaw.,Xiong,Gang.,Dong,Xisong.,Fang,Qihang.,Liu,Sheng.,...&Wang, Fei-Yue.(2022).Design and Optimization of a Control Framework for Robot Assisted Additive Manufacturing Based on the Stewart Platform.International Journal of Control, Automation and Systems,20(3),968-982.
MLA Tamir, Tariku Sinshaw,et al."Design and Optimization of a Control Framework for Robot Assisted Additive Manufacturing Based on the Stewart Platform".International Journal of Control, Automation and Systems 20.3(2022):968-982.
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