Dear participants of the workshop,
here is a small preview of the things I would like to use the robotic arm for, I put it in a blogpost since it is the easiest to read and include video's. At the bottom is a long list of questions (some in Dutch apparently), only a few of them will be discussed in this workshop.


I hope it will give you some insight into my plans, see you tomorrow.

My graduation project is about preforming Additive Manufacturing (AM) using a robotic arm in order to process two materials.
The robotic arm is a tool in this machine in order to increase the number of Degrees Of Freedom (DOF) in comparison with existing techniques. Smart implementation of these extra DOF's is one of my research questions.


Furthermore I would like to find out if a link can be made between a design drawing and the final 'behaviour' of the arm. This in relation to the way, and thereby resulting properties, of material addition. Meaning properties such as velocity, path generation, printing plane and dpi.


I would like to go a step further then formats such as STL and VMRL in order to include more information about how the product should be made. So that machine setup times are eliminated and AM becomes stand-alone, allowing for the production of one-off products in a standardized way. This raises some debate about standardization, but it is a debate I'd like to have.
This would allow parametric design to be implemented on a industrial scale. And have all these different sizes (next video) made at the competitive pricing of mass production.



Questions for the workshop.

Concerning programming
-Is op de de controller computer ook een deel van RoS geinstalleerd?
-Zijn er meer parameters uit te lezen van de arm, zoals het vermogen dat naar de motoren wordt gestuurd.
-Is het mogelijk om een deel v/d nodes op de controller computer te laten draaien?
-Hoe kan ik het beste / snelste het systeem van de arm identificeren?

Relevant research questions
-Would it be better if the printing head or the model moves during printing?
-What path would the print head take for depositing material on the model?

Reverse Kinematics model
-How could you model a preferred orientation in case of singularity?
-How can I make a predictive model of the speeds the joints will have when going through motions? In other words predict when the arm can not preform a motion.
-How would you make a deviation model giving the arm freedom to choose its own more optimal path in situations where the given is impossible to preform.

Deposition
In the video's the arm follows the uv lines of the surface for a easy path creation.
-What would be the options in linking this with the CAD file, or intermediary solver?
-Is it possible to alter / move the direction of these uv surface controls?
-In what way is Bezier modeling optimal for translating to print paths?
-Could you go into solid modeling and in what way would it be different from surface modeling?
-In what way could you link solid modeling to the deposition behavior?