Adding a segment of fiber-reinforced thermoplastic filament in a curve
In additive manufacturing, a method of adding a segment of fiber-reinforced thermoplastic filament. Adding a segment of filament involves three tasks: (1) determining where the segment of filament should be added, (2) depositing the segment of filament at the desired location, and (3) tamping the segment of filament to ensure adhesion and eliminate voids. Tamping the segment of filament is performed by steering a wheel along the filament. In accordance with the illustrative embodiment, the wheel is steered around a yaw axis that is offset from the wheel's axis by a distance s, where s is a positive real number.
1. A method comprising:
depositing a filament on a surface of a supporting structure along a target path; and
tamping the filament onto the supporting structure with a wheel by steering the wheel along the filament;
wherein the wheel comprises:
(i) a pitch axis around which the wheel is substantially symmetric; and
(ii) a circumferential surface that comprises:
(ii-a) a nip line segment where the wheel exerts maximum radial force on a first length of the filament, and
(ii-b) a pinch line segment where the wheel first pinches a second length of the filament between the circumferential surface and the supporting structure so that any movement of the second length of the filament parallel to the pitch axis is substantially constrained; and
(iii) a yaw axis that:
(iii-a) is perpendicular to the pitch axis, and
(iii-b) has a non-zero offset s from the pitch axis, wherein s is a positive real number, and
(iii-c) intersects the pinch line segment; and
(iv) a roll axis that intersects the pitch axis and the yaw axis and is perpendicular to the pitch axis and the yaw axis; and
wherein steering the wheel comprises moving the wheel so that the yaw axis intersects and advances along the target path.
2. The method of claim 1 wherein steering the wheel further comprises turning the wheel around the yaw axis to keep the roll axis substantially parallel to the target path at the point where the yaw axis intersects the target path.
3. The method of claim 1 wherein steering the wheel further comprises turning the wheel around the roll axis to keep the pitch axis parallel to the supporting structure at the point where the yaw axis intersects the supporting structure.
4. The method of claim 1 wherein steering the wheel further comprises dynamically adjusting the value of the offset s as a function of the curvature of the target path.
5. The method of claim 1 wherein the filament is an anisotropic fiber-reinforced thermoplastic filament.
6. The method of claim 1 wherein the target path is a planar curve.
7. The method of claim 1 wherein the target path is a non-planar curve.
8. A method comprising:
depositing a filament on a surface of a supporting structure along a target path; and
tamping the filament onto the supporting structure with a wheel by steering the wheel along the filament;
wherein the wheel comprises:
(i) a pitch axis around which the wheel is substantially symmetric; and
(ii) a circumferential surface that comprises:
(ii-a) a nip line segment where the wheel exerts maximum radial force on a first length of the filament, and
(ii-b) a pinch line segment where the wheel first pinches a second length of the filament between the circumferential surface and the supporting structure so that any movement of the second length of the filament parallel to the pitch axis is substantially constrained; and
(iii) a yaw axis that:
(iii-a) is perpendicular to the pitch axis, and
(iii-b) has a non-zero offset s from the pitch axis, wherein s is a positive real number, and
(iii-c) intersects the pinch line segment; and
(iv) a roll axis that intersects the pitch axis and the yaw axis and is perpendicular to the pitch axis and the yaw axis; and
wherein steering the wheel comprises turning the wheel around the yaw axis to keep the roll axis substantially parallel to the target path at the point where the yaw axis intersects the target path.
9. The method of claim 8 wherein steering the wheel further comprises turning the wheel around the roll axis to keep the pitch axis parallel to the supporting structure at the point where the yaw axis intersects the supporting structure.
10. The method of claim 8 wherein steering the wheel further comprises dynamically adjusting the value of the offset s as a function of the curvature of the target path.
11. The method of claim 8 wherein the filament is an anisotropic fiber-reinforced thermoplastic filament.
12. The method of claim 8 wherein the target path is a planar curve.
13. The method of claim 8 wherein the target path is a non-planar curve.
14. A method comprising:
depositing a filament on a surface of a supporting structure along a target path; and
tamping the filament onto the supporting structure with a wheel by steering the wheel along the filament;
wherein the wheel comprises:
(i) a pitch axis around which the wheel is substantially symmetric; and
(ii) a circumferential surface that comprises:
(ii-a) a nip line segment where the wheel exerts maximum radial force on a first length of the filament, and
(ii-b) a pinch line segment where the wheel first pinches a second length of the filament between the circumferential surface and the supporting structure so that any movement of the second length of the filament parallel to the pitch axis is substantially constrained; and
(iii) a yaw axis that:
(iii-a) is perpendicular to the pitch axis, and
(iii-b) has a non-zero offset s from the pitch axis, wherein s is a positive real number, and
(iii-c) intersects the pinch line segment; and
(iv) a roll axis that intersects the pitch axis and the yaw axis and is perpendicular to the pitch axis and the yaw axis; and
wherein steering the wheel comprises turning the wheel around the roll axis to keep the pitch axis parallel to the supporting structure at the point where the yaw axis intersects the supporting structure.
15. The method of claim 14 wherein steering the wheel further comprises dynamically adjusting the value of the offset s as a function of the curvature of the target path.
16. The method of claim 14 wherein the filament is an anisotropic fiber-reinforced thermoplastic filament.
17. The method of claim 14 wherein the target path is a planar curve.
18. The method of claim 14 wherein the target path is a non-planar curve.