Pressing Force Regulation in Robotic 3D Printing via CFD-Aided Nozzle Posture Control

Shinichi Ishikawa, Ryo Yamada, Wakana Tsuru, Ryosuke Tasaki

2025

Abstract

In the 3D printing process of applying materials, inadequate extrusion pressure critically deteriorates the deposition quality in robotic 3D printing. Feedback-based motion control with sensing and AI technology has been studied to respond to uneven and flexible surfaces, but challenges remain in optimizing the application force according to the situation. In this study, we investigate numerically and experimentally how the nozzle can change its orientation during the printing motion in a way that reduces the extrusion force. Numerical calculations are performed to derive the relationship between the clearance between the nozzle and the base and the extrusion force for multiple nozzle orientation patterns. Based on the numerical results, the relationship between the operating quantity (clearance) and the control quantity (maximum pressure and line width) is expressed mathematically to predict the quality model based on numerical fluid dynamics. In a variable-thickness printing experiment using a robot arm, a convex shape was reproduced by robot motion control that continuously changed the nozzle orientation. The experimental results demonstrated that adjusting the nozzle orientation effectively maintained extrusion force, preventing a reduction of approximately 0.01 N, as verified through force sensor-based inspection.

Paper Citation

in Harvard Style

Ishikawa S., Yamada R., Tsuru W. and Tasaki R. (2025). Pressing Force Regulation in Robotic 3D Printing via CFD-Aided Nozzle Posture Control. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 91-95. DOI: 10.5220/0013748100003982

in Bibtex Style

@conference{icinco25,
author={Shinichi Ishikawa and Ryo Yamada and Wakana Tsuru and Ryosuke Tasaki},
title={Pressing Force Regulation in Robotic 3D Printing via CFD-Aided Nozzle Posture Control},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={91-95},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013748100003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Pressing Force Regulation in Robotic 3D Printing via CFD-Aided Nozzle Posture Control
SN - 978-989-758-770-2
AU - Ishikawa S.
AU - Yamada R.
AU - Tsuru W.
AU - Tasaki R.
PY - 2025
SP - 91
EP - 95
DO - 10.5220/0013748100003982
PB - SciTePress