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研究生： Amadeus Dewangga
Amadeus Dewangga
論文名稱： 機械手臂輔助的無支撐積層製造
Robot Assisted Supportless Additive Manufacturing (RASAM)
指導教授： 林柏廷
Po-Ting Lin
口試委員: 陳羽薰
Yu-Hsun Chen
徐冠倫
Kuan-Lun Hsu
學位類別： 碩士
Master
系所名稱： 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年： 2022
畢業學年度： 110
語文別： 英文
論文頁數： 131
外文關鍵詞： Supportless
相關次數： 點閱：168  下載：8 
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    • Abstract—One of the easiest and most common methods of 3D Printing (3DP) is Fusion Deposition Modelling (FDM). However, support structures were inevitable to print certain geometries, no matter the orientation. Support structures is a major disadvantage in FDM, because it means waste of material, added printing time, and a mandatory post processing on the surface of the support structure. In this research, a Robot-Aided Supportless Additive Manufacturing (RASAM) was proposed. A robot arm is used as a substitute for said support structures, with a custom end effector that includes heating element and peeling mechanism. 3 Degree-of-Freedom (DOF) robot arm is utilized to move the supporting end effector to the positions where normally a support structure is printed. RASAM shows that there is time and material saved compared to conventional method of support structure. It also shows similar values in angle accuracy, and much better surface roughness, thus making post processing unnecessary.

    ABSTRACT i TABLE OF CONTENTS ii LIST OF TABLES v LIST OF FIGURES vi CHAPTER 1. INTRODUCTION 1 1.1. Introduction to Supportless 3D Printing 1 1.2. Research Development on Supportless 3D Printing 2 1.3. Scope of the Present Study 5 CHAPTER 2. THEORETICAL BACKGROUND 7 2.1. 3D Printing 7 2.1.1. FDM 3D Printer 7 2.1.2. Parameters of FDM 3D Printing 8 2.1.3. Support Structures 13 2.1.4. Peeling Forces 16 2.2. Result of FDM 3D Printing 17 2.2.1. Duration 17 2.2.2. Surface Roughness 23 2.2.3. Accuracy 24 2.3. Robot Arm 25 2.3.1. End Effector 26 2.3.2. Control 26 2.4. Slider and Crank Linkage 29 CHAPTER 3. Methodology 36 3.1. Research Methodology Flowchart 36 3.2. Experimental Procedure 37 3.2.1. FDM 3D Printer 37 3.2.2. FDM 3D Printer 38 3.2.3. End Effector 40 3.2.4. Peeling Mechanism Validation 43 3.2.5. Specimen Specifications 46 3.2.6. Setup of Whole System 48 3.2.7. Specimen Measurements 50 3.2.8. Experiment Procedure 51 3.2.9. RASAM Validation Specimen 52 3.3. Data Analysis 53 3.3.1. Descriptive Statistics using Microsoft Excel 55 3.3.2. ANOVA using Microsoft Excel 56 CHAPTER 4. RESULTS AND DISCUSSION 60 4.1. Experiment Results 60 4.1.1. Surface Roughness Data 60 4.1.2. Accuracy Data 61 4.2. Direct Comparison 62 4.2.1. Direct Comparison of Surface Roughness Data 62 4.2.2. Direct Comparison of Accuracy Data 64 4.3. ANOVA 67 4.3.1. ANOVA of Surface Roughness Data 67 4.3.2. ANOVA of Accuracy Data 70 4.4. Visual Inspection 75 4.4.1. Standard Support Structure 75 4.4.2. RASAM Method 76 4.4.3. RASAM Method with Tape 78 4.5. System Analysis 79 4.5.1. CAD and Mechanism Comparison 79 4.5.2. Force Comparison 83 4.5.3. Weight Analysis 85 4.5.4. Validation Specimen 85 CHAPTER 5. Summary 86 5.1. Conclusions 86 5.2. Suggestions for Future Works 86 References 88 Appendix 91 Appendix 1. Slicer interface on peeling mechanism 91 Appendix 2. Specimen 93 Appendix 3. Microscope image 95 Appendix 4. Process 113

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