公开(公告)号：WO2017062567A1

公开(公告)日：2017-04-13

申请号：PCT/US2016/055674

申请日：2016-10-06

Applicant: WORCESTER POLYTECHNIC INSTITUTE

Inventor： CHAMBERLAIN, Sarah M. ,  EBERHEIM, Richard T.

IPC: B29C67/04 ,  B29C64/40 ,  B29C64/118 ,  B29C64/209 ,  B29C47/06 ,  B33Y40/00

CPC classification number: B33Y10/00 ,  B28B1/001 ,  B29C64/106 ,  B29C64/20 ,  B29C64/386 ,  B29K2105/12 ,  B33Y30/00 ,  B33Y50/02

Abstract: A parallel robotic manipulator for generating 3 dimensional structures includes a set of redeployable towers adapted to transport one or more cables, and at least one drive source operable to draw or traverse the cables across a rendering area. An end- effector suspended from the cables is operable to deposit extrudate onto the rendering area, and a nozzle in the end-effector is configured to selectively deposit the extrudate at predefined locations based on the position of the cable. A control unit has control logic for directing the drive source, in which the cables are responsive to the drive source for disposing the end-effector either along the cables or drawn and extended from the towers. An extrudate reservoir and a pump in fluidic communication with the reservoir allows the pump to force the extrudate for deposition at the predefined location responsive to the control logic.

Abstract translation: 用于产生三维结构的平行机器人操纵器包括适于传送一个或多个电缆的一组可重新调配的塔架，以及至少一个驱动源，其可操作以在所述再现区域上拉伸或横越所述电缆。 从电缆悬挂的末端执行器可操作以将挤出物沉积到再现区域上，并且末端执行器中的喷嘴构造成基于电缆的位置将挤出物选择性地沉积在预定位置处。 控制单元具有用于引导驱动源的控制逻辑，其中电缆响应于驱动源，用于沿着电缆布置端部执行器或者从塔拉出并延伸。 挤出物储存器和与储存器流体连通的泵允许泵根据控制逻辑迫使挤出物在预定位置沉积。