Abstract The extrusion-based additive manufacturing (AM) processes are those where one or multiple tools (usually nozzles) are driven along predefined paths to deposit fabrication materials. They are usually inherently slow because solid contours have to be filled with mere single deposition lines of material. An intuitive way to improve the fabrication speed is to introduce multiple independent actuators for concurrent deposition of materials without collision among them. In this paper, a methodology of using augmented reality (AR) technique is presented to conveniently communicate the layout information between a reconfigurable AM system made of robotic arms and its corresponding digital twin for toolpath planning and simulation. A prototype system made of two desktops AM robotic arms is developed, and transformation matrices are derived to determine the spatial relation between different items in the system, including camera, markers, robotic arms and part substrate. Case studies are conducted to demonstrate the capability of this methodology in automatically retrieving layout information and assisting users to deploy pre-determined layout. The results show that the developed methodology enables rapid retrieval of position information from the physical system layout into the digital twin simulation and optimization and facilitates convenient deployment of an optimized layout determined in the digital twin into the physical system.

中文翻译：

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使用增强现实为可重构增材制造系统构建数字孪生

摘要 基于挤压的增材制造 (AM) 工艺是一种或多种工具（通常是喷嘴）沿预定路径驱动以沉积制造材料的工艺。它们通常本身就很慢，因为实体轮廓必须用材料的单个沉积线填充。提高制造速度的一种直观方法是引入多个独立的致动器，用于同时沉积材料而不会相互碰撞。在本文中，提出了一种使用增强现实 (AR) 技术的方法，以方便地在由机械​​臂组成的可重构 AM 系统与其相应的数字孪生体之间传递布局信息，以进行刀具路径规划和模拟。开发了由两个桌面 AM 机械臂组成的原型系统，并导出变换矩阵来确定系统中不同项目之间的空间关系，包括相机、标记、机械臂和零件基板。案例研究旨在证明这种方法在自动检索布局信息和帮助用户部署预定布局方面的能力。结果表明，所开发的方法能够将物理系统布局中的位置信息快速检索到数字孪生仿真和优化中，并有助于将数字孪生中确定的优化布局方便地部署到物理系统中。案例研究旨在证明这种方法在自动检索布局信息和帮助用户部署预先确定的布局方面的能力。结果表明，所开发的方法能够将物理系统布局中的位置信息快速检索到数字孪生仿真和优化中，并有助于将数字孪生中确定的优化布局方便地部署到物理系统中。案例研究旨在证明这种方法在自动检索布局信息和帮助用户部署预先确定的布局方面的能力。结果表明，所开发的方法能够将物理系统布局中的位置信息快速检索到数字孪生仿真和优化中，并有助于将数字孪生中确定的优化布局方便地部署到物理系统中。