Robotic Depowdering for Additive Manufacturing Via Pose Tracking
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arXiv
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| Format: | Preprint |
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2022
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| author | Liu, Zhenwei Geng, Junyi Dai, Xikai Swierzewski, Tomasz Shimada, Kenji |
| author_facet | Liu, Zhenwei Geng, Junyi Dai, Xikai Swierzewski, Tomasz Shimada, Kenji |
| contents | With the rapid development of powder-based additive manufacturing, depowdering, a process of removing unfused powder that covers 3D-printed parts, has become a major bottleneck to further improve its productiveness. Traditional manual depowdering is extremely time-consuming and costly, and some prior automated systems either require pre-depowdering or lack adaptability to different 3D-printed parts. To solve these problems, we introduce a robotic system that automatically removes unfused powder from the surface of 3D-printed parts. The key component is a visual perception system, which consists of a pose-tracking module that tracks the 6D pose of powder-occluded parts in real-time, and a progress estimation module that estimates the depowdering completion percentage. The tracking module can be run efficiently on a laptop CPU at up to 60 FPS. Experiments show that our depowdering system can remove unfused powder from the surface of various 3D-printed parts without causing any damage. To the best of our knowledge, this is one of the first vision-based robotic depowdering systems that adapt to parts with various shapes without the need for pre-depowdering. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2207_04196 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Robotic Depowdering for Additive Manufacturing Via Pose Tracking Liu, Zhenwei Geng, Junyi Dai, Xikai Swierzewski, Tomasz Shimada, Kenji Robotics With the rapid development of powder-based additive manufacturing, depowdering, a process of removing unfused powder that covers 3D-printed parts, has become a major bottleneck to further improve its productiveness. Traditional manual depowdering is extremely time-consuming and costly, and some prior automated systems either require pre-depowdering or lack adaptability to different 3D-printed parts. To solve these problems, we introduce a robotic system that automatically removes unfused powder from the surface of 3D-printed parts. The key component is a visual perception system, which consists of a pose-tracking module that tracks the 6D pose of powder-occluded parts in real-time, and a progress estimation module that estimates the depowdering completion percentage. The tracking module can be run efficiently on a laptop CPU at up to 60 FPS. Experiments show that our depowdering system can remove unfused powder from the surface of various 3D-printed parts without causing any damage. To the best of our knowledge, this is one of the first vision-based robotic depowdering systems that adapt to parts with various shapes without the need for pre-depowdering. |
| title | Robotic Depowdering for Additive Manufacturing Via Pose Tracking |
| topic | Robotics |
| url | https://arxiv.org/abs/2207.04196 |