Systems and Methods for Weaving in Additive Manufacturing

1 . An additive manufacturing system, comprising:

a robotic actuator; and

an end effector assembly configured with at least one effector degree of freedom mounted to the robotic actuator with a plurality of actuator degrees of freedom, the end effector assembly comprising:

an end effector, the end effector comprising a welding torch, with an end point of the welding torch positioned proximal to an end effector central axis;

at least one motor configured to drive a movement of the end effector along the at least one effector degree of freedom;

wherein the movement of the end effector is decoupled from a movement of the robotic actuator and the plurality of actuator degrees of freedom; and

wherein the movement of the end effector along at least one axis is driven by the at least one motor independent of a movement of the robotic actuator such that the at least one effector degree of freedom is independent from each of the plurality of actuator degrees of freedom;

wherein the end effector assembly is configured for a bulk weave pattern along a bulk weave effector degree of freedom, and wherein the bulk effector degree of freedom comprises linear axis corresponding to a bulk weave axial direction.

2 . The system of claim 1 , wherein the end effector further comprises a modular interface, the modular interface comprising a plurality of connection points arranged around a perimeter of a central axis of the modular interface.

3 . The system of claim 1 , wherein the end effector assembly is configured to print a plurality of weave patterns with an accuracy of less than 10 millimeters.

4 . The system of claim 1 , wherein the end effector assembly further comprises at least one rail, and the at least one motor drives the movement of the end effector along the at least one rail.

5 . The system of claim 1 , wherein the end effector assembly has a degree of freedom along a first axis, the first axis corresponding to a bulk weave axial direction, and a degree of freedom along a second axis, the second axis corresponding to a second axial direction wherein the second axial direction is a direction of travel of a print part of the additive manufacturing system.

6 . The system of claim 4 , wherein the end effector assembly comprises a plurality of rails and a plurality of motors wherein each of the plurality of motors drives the movement of the end effector along one of the plurality of rails.

7 . The system of claim 1 , wherein the end effector assembly has degrees of freedom on three axes, wherein a first axial direction is a bulk weave axial direction, a second axial direction is a direction of travel of a print part of the additive manufacturing system, and a third axial direction is a distance between the welding torch and a print part of the additive manufacturing system.

8 . The system of claim 2 , wherein the welding torch is a hot wire torch comprising:

a hot wire torch endpoint; and

one or more sensors fixedly attached to the plurality of connection points;

wherein the one or more sensors are configured to generate data based on observations of an observation position offset relative to the hot wire torch endpoint.

9 . The system of claim 2 , wherein the plurality of connection points are configured to couple with at least one device selected from the group consisting of: a hot wire torch, a cold wire torch, a sensor, a camera, a tool, a welding camera, an infrared camera, a visible light camera, a laser sensor, and a sensor to measure a geometrical dimension of a part.

10 . The system of claim 1 , wherein the robotic actuator is configured to follow a primary tool path, and the end effector assembly is configured to overlay a weave pattern onto the primary tool path independent of the movement of the robot actuator; and

wherein the weave pattern is driven by the at least one motor of the end effector assembly without altering the primary tool path of the robotic actuator.

11 . The system of claim 1 , wherein the end effector assembly further comprises a control assembly, the control assembly comprising:

memory; and

a processor, the processor is configured to receive a set of print instructions for weaving from the memory, send the set of print instructions to the end effector assembly and cause the at least one motor to drive the end effector assembly.

12 . The system of claim 11 , wherein the processor is further configured to receive tool path data for the robotic actuator, receive weaving parameters for the end effector assembly and coordinate the movement of the robotic actuator and the movement of the end effector assembly.

13 . The system of claim 12 , wherein the movement of the robotic actuator and the movement of the end effector assembly are configured for a material deposition property.

14 . The system of claim 13 , wherein the material deposition property is selected from the group consisting of:

a material distribution, a material fusion, a fusion uniformity, and a weld bead geometry.

15 . The system of claim 11 , wherein the processor is further configured to modulate at least one of a weave amplitude or a weave frequency based on a state of the additive manufacturing system.

16 . The system of claim 15 , wherein the state is selected from the group consisting of:

a pose, a path position, an articulation, a thermal state, a part geometry, and a mechanical characteristic of the additive manufacturing system.

17 . An end effector assembly for an additive manufacturing system, comprising:

an end effector with a welding torch, the welding torch having an end point positioned proximal to an end effector central axis;

at least one motor configured to control a movement of the end effector;

wherein the movement of the end effector is independent from a movement of a robotic actuator coupled to the end effector assembly; and

wherein the end effector is configured with at least one effector degree of freedom that is independent from each of a plurality of actuator degrees of freedom.

18 . The end effector assembly of claim 17 further comprising a modular interface with a plurality of connection points arranged around a perimeter of a modular interface central axis.

19 . The end effector assembly of claim 18 , wherein the plurality of connection points are configured to couple with at least one device selected from the group consisting of:

a hot wire torch, a cold wire torch, a sensor, a camera, a tool, a welding camera, an infrared camera, a visible light camera, a laser sensor, and a sensor to measure a geometrical dimension of a part.

20 . An additive manufacturing system comprising:

a robotic actuator; and

an end effector assembly coupled to the robotic actuator, the end effector assembly comprising:

a welding torch configured to deposit material forming a part;

at least one motor configured to drive the welding torch along at least one effector axis independent from any movement of the robotic actuator;

wherein the at least one effector axis comprises a linear axis corresponding to a bulk weave axial direction;

wherein the end effector assembly is configured to perform a weave motion having an amplitude within a molten weld pool during deposition; and

wherein the weave motion is configured for a weld property.

21 . The additive manufacturing system of claim 20 , wherein the weld property is selected from the group consisting of:

a material distribution, a material fusion, a fusion uniformity, and a weld bead geometry.

22 . A method of performing additive manufacturing, comprising:

coupling an end effector assembly to a robotic actuator wherein the end effector assembly comprises:

an end effector with a welding torch, the welding torch having an end point positioned proximal to an end effector central axis;

at least one motor configured to control a movement of the end effector;

wherein the movement of the end effector is independent from a movement of the robotic actuator coupled to the end effector assembly; and

wherein the end effector is configured with at least one effector degree of freedom comprising a linear axis in a bulk weave axial direction and is independent from each of a plurality of actuator degrees of freedom;

positioning a welding torch of the end effector assembly along a print path using the robotic actuator;

driving the at least one motor of the end effector assembly to perform an oscillatory weave motion with an amplitude and a frequency along the bulk weave axial direction;

controlling the weave motion independent of the movement of the robotic actuator; and

modulating at least one weave parameter to improve a weld property.

23 . The method of claim 22 , wherein the weld property is selected from the group consisting of:

a material distribution, a material fusion, a fusion uniformity, and a weld bead geometry.