Abstract
Swarm manufacturing is an emerging manufacturing paradigm that employs a heterogeneous swarm of robots to accomplish complex hybrid manufacturing tasks. Cooperative 3D printing (C3DP), a specialized form of swarm manufacturing, enables multiple printers to collaboratively produce large-scale parts, addressing key tradeoffs in additive manufacturing, such as size, speed, quality, and cost. A fundamental challenge in C3DP is ensuring collision-free, time-optimal printing in a shared workspace. This is a complex problem that can be influenced by factors such as the number of printers, part geometry, printer positioning, mobility, and kinematics. In this article, we present SafeZone*, a collision-free and scalable C3DP framework that optimizes printing time by co-considering the geometry (area and shape) and topology (space-connectivity) of a shared workspace during layer partitioning. We first establish a conceptual framework to mathematically represent the topology of a layer through partition graphs. Then, we use a Voronoi tessellation within a constrained optimization framework to control the partition graph and minimize makespan. The Voronoi sites are associated with printer locations, allowing the framework to integrate physical constraints and facilitating solutions for systems with robotic manipulators. Physical testing in a four-printer scenario with robotic arms confirms that SafeZone* enables collision-free printing, resulting in a printing time reduction of 44.63% when compared to the single-printer scenario. Finally, numerical studies reveal trends in the optimal solutions concerning the chromatic number of their resulting partition graphs and the distribution of the printing areas among printers.
