Position detection techniques for additive fabrication and related systems and methods
Techniques for measuring a position of a build platform in an additive fabrication device are provided. Such techniques may include detecting the onset and/or dissipation of force applied to a build platform as it moves from being in contact with, to being out of contact with, a container. In some embodiments, the techniques described herein may be applied in a stereolithographic additive fabrication device. According to some embodiments, measurement of forces applied to a build platform may be used to provide for reliable and consistent measurements of the height of the build platform relative to a container by measuring such forces at various positions of the build platform and analyzing the pattern of the forces with distance from the container.
1. An additive fabrication device comprising:
a build platform; and
at least one processor configured to determine a position of the build platform relative to a surface by:
moving the build platform away from the surface, wherein initially during said movement the build surface is in contact with the surface and at completion of said movement the build surface is not in contact with the surface;
obtaining a plurality of force measurements, each force measurement being indicative of a force applied to the build platform during said step of moving the build platform away from the surface; and
determining the position of the build platform relative to the surface based at least in part on one or more of the plurality of force measurements.
2. The additive fabrication device of claim 1 , further comprising a container, and wherein the surface is at least part of an interior surface of the container.
3. The additive fabrication device of claim 1 , further comprising one or more actuators configured to move the build platform relative to the surface.
4. The additive fabrication device of claim 3 , wherein the at least one processor is further configured to generate the plurality of force measurements by measuring a back electromotive force upon at least one of the one or more actuators during said step of moving the build platform away from the surface.
5. The additive fabrication device of claim 1 , further comprising at least one force sensor configured to measure a force applied to the build platform, and wherein the at least one processor is configured to receive the plurality of force measurements from the at least one force sensor.
6. The additive fabrication device of claim 1 , wherein the at least one processor is configured to determine the position of the build platform relative to the surface at least in part by identifying a position of the build platform at which a discontinuity in force measurements of the plurality of force measurements occurs.
7. The additive fabrication device of claim 1 , wherein each of the plurality of force measurements are associated with a respective distance of the build platform from the surface.
8. The additive fabrication device of claim 7 , wherein the at least one processor is configured to determine the position of the build platform relative to the surface at least in part by calculating a rate of change of the force measurements with respect to a change in the distance of the build platform from the surface.
9. The additive fabrication device of claim 1 , wherein the surface is mechanically coupled to at least one compressive device.
10. The additive fabrication device of claim 1 , wherein the at least one processor is further configured to, prior to moving the build platform away from the surface, wait for a predetermined period during which the build platform is stationary.
11. A method for determining a position of a build platform in an additive fabrication device, the method comprising:
moving the build platform away from a surface, wherein initially during said movement the build surface is in contact with the surface and at completion of said movement the build surface is not in contact with the surface;
obtaining a plurality of force measurements, each force measurement being indicative of a force applied to the build platform during said step of moving the build platform away from the surface; and
determining the position of the build platform relative to the surface based at least in part on one or more of the plurality of force measurements.
12. The method of claim 11 , wherein:
the additive fabrication device comprises a container comprising a liquid photopolymer, and
when the build platform is in contact with the surface, at least part of the build platform is immersed within the liquid photopolymer.
13. The method of claim 12 , wherein each force measurement is at least partially indicative of fluid forces applied to the build platform during said step of moving the build platform away from the surface.
14. The method of claim 11 , wherein determining the position of the build platform comprises identifying a position of the build platform at which a discontinuity in force measurements of the plurality of force measurements occurs.
15. The method of claim 11 , wherein the additive fabrication device comprises one or more electrically driven actuators configured to move the build platform, and wherein the method further comprises generating the plurality of force measurements by measuring a back electromotive force upon at least one of the one or more actuators during said step of moving the build platform away from the surface.
16. The method of claim 11 , wherein each of the plurality of force measurements are associated with a respective distance of the build platform from the surface.
17. The method of claim 16 , further comprising calculating a rate of change of the force measurements with respect to a change in the distance of the build platform from the surface.