Convergent Manufacturing using Multiple Industrial Robots

This talk discusses the implementation of a multi-robot wire arc additive manufacturing (WAAM) testbed at RPI.  The capabilities developed include a unifying architecture using Robot Raconteur (RR) with customized RR drivers, motion and pose optimization with redundancy resolution, in-situ path speed and wire feed rate adjustment based on sensor feedback, in-situ IR, acoustic, and current sensing, layer-by-layer height-width profiles, post-build metrology, and CAD-to-part end-to-end WAAM process.

Layer-by-layer scan-n-print