Techniques for applying a peel operation during additive fabrication and related systems and methods
According to some aspects, an additive fabrication device is provided. The additive fabrication device may be configured to form layers of material on a build platform, each layer of material being formed so as to contact a container in addition to the build platform and/or a previously formed layer of material, and may comprise a build platform, a container, and a plurality of mechanical linkages each independently coupled to the container and configured to move the container relative to the build platform.
1. An additive fabrication device configured to form layers of material on a build platform, each layer of material being formed so as to contact a container in addition to the build platform and/or a previously formed layer of material, the additive fabrication device comprising:
a build platform;
a fixed platform;
a container arranged between the fixed platform and the build platform;
a plurality of mechanical linkages each independently coupled, via rotatable couplings, to the container and to the fixed platform; and
at least one controller configured to, subsequent to formation of a layer of material in contact with the container, cause motion of the container relative to the fixed platform to separate the layer of material from the container.
2. The additive fabrication device of claim 1 , wherein the plurality of mechanical linkages include at least a first mechanical linkage that comprises a linear actuator configured to increase or decrease a length of the first mechanical linkage.
3. The additive fabrication device of claim 2 , wherein the at least one controller is configured to cause said motion of the container at least in part by actuating the linear actuator of the first mechanical linkage to increase or decrease the length of the first mechanical linkage.
4. The additive fabrication device of claim 2 , wherein the at least one controller is configured to actuate the linear actuator of the first mechanical linkage to increase or decrease the length of the first mechanical linkage prior to formation of the layer of material in contact with the container.
5. The additive fabrication device of claim 1 , wherein the plurality of mechanical linkages each include at least one actuator, and wherein the plurality of actuators are configured to be independently controlled.
6. The additive fabrication device of claim 5 , wherein the plurality of actuators are configured to move the container in a direction perpendicular to a build direction of the additive fabrication device.
7. The additive fabrication device of claim 5 , wherein the plurality of actuators are configured to rotate the container about an axis parallel to a build direction of the additive fabrication device.
8. The additive fabrication device of claim 5 , wherein the at least one controller is configured to control the plurality of actuators.
9. The additive fabrication device of claim 1 , wherein the at least one controller is configured to cause said motion of the container at least in part by applying a force to the build platform in a direction away from the container, thereby causing motion of the container as constrained by the mechanical linkages.
10. The additive fabrication device of claim 1 , wherein each of the plurality of mechanical linkages includes a linear actuator, and wherein the linear actuators are configured to be independently controlled.
11. The additive fabrication device of claim 1 , wherein the plurality of mechanical linkages comprises at least four of the mechanical linkages.
12. The additive fabrication device of claim 11 , wherein the plurality of mechanical linkages comprises at least six of the mechanical linkages.
13. The additive fabrication device of claim 12 , wherein the plurality of mechanical linkages form a Stewart platform.
14. The additive fabrication device of claim 1 , further comprising a radiation source configured to direct radiation into the container.