Proceedings of the
9th International Conference of Asian Society for Precision Engineering and Nanotechnology (ASPEN2022)
15 – 18 November 2022, Singapore

Effect of Nozzle Orientation on Accuracy of Formed Objects in FFF Process of Additive Manufacturing with Dual-Arm Robot

Kosuke Kurokawa1 and Toshitake Tateno2

1Graduate School of Science and Technology, Meiji University, 1-1-1, Higashimita, Tama-ku, Kawasaki-shi, Kanagawa-ken 214-8571, Japan

2Department of Mechanical Engineering Informatics, Meiji University, 1-1-1, Higashimita, Tama-ku, Kawasaki-shi, Kanagawa-ken 214-8571, Japan


Fused Filament Fabrication (FFF), one of the Additive Manufacturing (AM) technologies, forms three-dimensional objects by extruding thermoplastic resin to deposit material. Conventional FFF machines have several weak points due to the flat layer. FFF using a vertically articulated robot, especially dual-arm robot, is expected to solve these problems. The redundant degrees of freedom allow material extrusion in free directions. However, the effect of the nozzle orientation on the shape of formed object is not known enough. Therefore, in this paper, some experiments were conducted with actual fabrication in different orientations of extrusion nozzle: in which the nozzle was oriented perpendicularly to five planes with angles varying by 45°. Additionally, the effect of the layer height was also investigated. The fabrication was tested at several layer heights from 0.5 mm to 3.0 mm. As a result, the fabrication could be completed well when the layer height was smaller than the diameter of the extrusion nozzle. However, when the layer height was larger than the nozzle diameter, the formed object had some shape errors at every angle of nozzle orientation.

Keywords: Robotic Additive Manufacturing, Fused Filament Fabrication, Dual-Arm Robot, Nozzle Orientation, Accuracy Evaluation.

PDF Download