Abstract

We develop and study a block-type three-dimensional (3D) printer that can assemble toy blocks based on 3D CAD models. Our system automatically converts a 3D CAD model into a block model consisting of toy blocks in basic shapes. Next, it automatically generates a feasible assembly plan for the block model. An industrial robot then assembles the block sculpture layer-by-layer, from bottom to top, using this assembly plan. This approach has advantages including the ease of combining multiple types of materials and reusing them which is difficult for conventional 3D printers to accomplish. We also introduce a technique to reliably determine the order of block placement to assemble block models from various patterns. This technique includes converting unassemblable shapes in the models to assemblable ones with support blocks and/or decomposing them into subassemblies. In addition, we implement a robot control system that automatically generates a stable sculpture according to a predetermined placement order. We also demonstrate the assembly of various toy block models using our system.

摘要

我们开发并研究了一种可以组装基于3D CAD模型的玩具块的积木式三维（3D）打印机。我们的系统会自动将3D CAD模型转换为由基本形状的玩具块组成的块模型。接下来，它会自动为块模型生成可行的装配计划。然后，工业机器人使用该组装计划从下到上逐层组装块状雕塑。这种方法的优点包括易于组合多种类型的材料并重新使用它们，这是常规3D打印机难以实现的。我们还介绍了一种技术，该技术可以可靠地确定块放置的顺序，以便从各种模式组装块模型。此技术包括将模型中的不可组装形状转换为带有支撑块的可组装形状和/或将其分解为子组件。此外，我们实施了一种机器人控制系统，该系统会根据预定的放置顺序自动生成稳定的雕塑。我们还将演示使用我们的系统组装各种玩具块模型的过程。