dc.contributor.advisor | Román Flores, Armando | |
dc.contributor.author | Rodríguez Padilla, Ma. Consuelo | |
dc.creator | ROMAN FLORES, ARMANDO; 46077 | |
dc.date.accessioned | 2023-02-11T00:35:26Z | |
dc.date.available | 2023-02-11T00:35:26Z | |
dc.date.issued | 2022-12-02 | |
dc.identifier.citation | Rodríguez Padilla M.A.(2022). A safe and efficient path planning framework for conformal fused filament fabrication using a manipulator arm [Unpublished doctoral thesis]. Instituto Tecnológico y de Estudios Superiores de Monterrey. Recuperado de: https://hdl.handle.net/11285/650136 | es_MX |
dc.identifier.uri | https://hdl.handle.net/11285/650136 | |
dc.description | https://orcid.org/0000-0003-2463-924X | es_MX |
dc.description.abstract | As opposed to flat or planar extrusion additive manufacturing, the benefits of multi-plane and curved fused deposition of material are conclusive; however, several issues need to be considered and solved when a robotic manipulator is used for the deposition of material. The path and motion planning for printing using robotics need considerations to guarantee adequate results. This work presents the projection of a printing trajectory on a tessellated surface and a Reinforcement Learning strategy that optimizes the angular displacement of joints. The validation of the strategy is presented under simulated conditions inserting different obstacles for a projected zigzag printing pattern on a curved surface. Results show that this approach can choose the optimal inverse kinematic solution to optimize the movement of the main joints of a robot with six degrees of freedom while avoiding different obstacles. The strategy was tested on several actual printings of complex patterns on different curved surfaces using a manipulator arm UR3. Even thought the applicability of lattice manufacturing suggested here, the framework developed and software implemented and validated may be used for any application where a very precise conformal trajectory needs to be followed using a manipulator arm or any multi-axis system saving programming time. | es_MX |
dc.format.medium | Texto | es_MX |
dc.language.iso | eng | es_MX |
dc.publisher | Instituto Tecnológico y de Estudios Superiores de Monterrey | es_MX |
dc.relation | Consejo Nacional de Ciencia y Tecnología | es_MX |
dc.relation.isFormatOf | acceptedVersion | es_MX |
dc.relation.isreferencedby | REPOSITORIO NACIONAL CONACYT | |
dc.relation.url | https://youtu.be/njW20uMbndk | es_MX |
dc.rights | openAccess | es_MX |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0 | es_MX |
dc.subject.classification | INGENIERÍA Y TECNOLOGÍA::CIENCIAS TECNOLÓGICAS::TECNOLOGÍA DE LOS ORDENADORES::SISTEMAS AUTOMATIZADOS DE PRODUCCIÓN | es_MX |
dc.subject.lcsh | Technology | es_MX |
dc.title | A safe and efficient path planning framework for conformal fused filament fabrication using a manipulator arm | es_MX |
dc.type | Tesis Doctorado / doctoral Thesis | es_MX |
dc.contributor.department | School of Engineering and Sciences | es_MX |
dc.contributor.committeemember | Cuan Urquizo, Enrique | |
dc.contributor.committeemember | González Hernández, Hugo Gustavo | |
dc.contributor.committeemember | Ramírez Cedillo, Erick Guadalupe | |
dc.contributor.mentor | Vázquez Hurtado, Carlos | |
dc.identifier.orcid | https://orcid.org/0000-0002-4089-2854 | es_MX |
dc.subject.keyword | Reinforcement Learning | es_MX |
dc.subject.keyword | Additive Manufacturing | es_MX |
dc.subject.keyword | UR3 | es_MX |
dc.subject.keyword | Curved printing | es_MX |
dc.subject.keyword | Conformal printing | es_MX |
dc.subject.keyword | Robotics | es_MX |
dc.contributor.institution | Campus Monterrey | es_MX |
dc.contributor.cataloger | puemcuervo, emipsanchez | es_MX |
dc.description.degree | Doctor of Philosophy In Engineering Science Major in Additive Manufacturing and Robotics | es_MX |
dc.identifier.cvu | 160884 | es_MX |
dc.date.accepted | 2022-12-02 | |
dc.audience.educationlevel | Investigadores/Researchers | es_MX |
dc.identifier.scopusid | 57227080600 | es_MX |
dc.identificator | 7||33||3304||120305 | es_MX |