Continuous toolpaths for additive manufacturing

1. A method of generating a toolpath for additively manufacturing an object, the method comprising:

obtaining a 3-D digital representation of the object;

slicing the 3-D digital representation of the object into a plurality of layers, one of the plurality of layers including a plurality of isolated contours including a perimeter contour and a plurality of inset contours surrounded by the perimeter contour;

identifying a plurality of regions between the isolated contours including candidate bridge or candidate gap locations;

generating a graph using a processor where nodes of the graph represent the plurality of isolated contours and edges of the graph represent candidate bridge or gap locations between the isolated contours, wherein a root node represents the perimeter contour and each of the nodes connect to at least one other node in a parent-child relationship or sibling-sibling relationship;

assigning, using a processor, a bridge or gap edge bias weight to each of the edges of the graph such that the bridge or gap edge bias weights vary as a function of node depth in the graph;

automatically generating a toolpath, using a processor, by 1) selecting a subset of the edges representing candidate bridge or gap locations that connect all of the nodes without any cycles based on the bridge or gap edge bias weights and 2) beginning with the root node and based on the selected subset of edges, automatically selecting a bridge location from the candidate bridge or gap locations between the isolated contours for each of the selected subset of edges, wherein the toolpath includes the nodes representing each of the isolated contours, bridges across the selected bridge locations to connect all of the isolated contours without any cycles based on edge bias weights, and gaps at the remaining candidate bridge or gap locations between the isolated contours, wherein the toolpath is continuous and traversable without traversing a bridge location multiple times; and

additively manufacturing the object using a 3D printer by printing along the generated toolpath.

2. The method of claim 1 including excluding certain candidate bridge locations based on zippering criteria.

3. The method of claim 1 including prioritizing certain candidate bridge locations based on zippering criteria.

4. The method of claim 1 wherein the gap edge weights of outer edge contours are substantially greater than the gap edge weights of inner edge contours, and the subsets of the edges are selected based on a minimum spanning tree algorithm and wherein a depth first search algorithm is used to traverse the subset of the edges for selecting the bridge location for each of the selected subset of edges.

5. A method of creating additive manufacturing instructions for an object, the method comprising:

slicing, with a slicer, a model of the object into a plurality of slices for additively manufacturing the object, a slice including a plurality of contours each including a plurality of vertices and a plurality of edges, wherein the plurality of contours include an isolated perimeter path surrounding a plurality of isolated inset paths;

identifying a plurality of candidate bridge or candidate gap locations between the plurality of contours;

generating a graph using a processor where nodes of the graph represent the plurality of contours and edges of the graph represent the candidate bridge or candidate gap locations between the plurality of contours, wherein a root node represents the isolated perimeter path and other nodes represent the plurality of isolated inset paths, wherein each of the nodes connect to at least one other node in a parent-child relationship or sibling-sibling relationship;

assigning, using a processor, a bridge or gap edge bias weight to each of the edges of the graph such that the bridge or gap edge bias weights vary as a function of node depth in the graph;

automatically generating a toolpath from the graph, using a processor, by beginning with the root node and based on the selected subset of edges and their bridge or gap edge bias weights selecting, with a processor, a subset of the plurality of edges from the graph that represent bridge locations from the plurality of candidate bridge or candidate gap locations between the plurality of contours such that after forming bridges at the selected locations none of the plurality of contours will be isolated, wherein all of the nodes in the graph connect without any cycles;

wherein the toolpath includes the nodes representing each of the contours, bridges between the contours at the selected bridge locations to connect all of the contours without any cycles based on edge bias weights, and gaps at the remaining candidate bridge or candidate gap locations between the plurality of contours, wherein the toolpath is continuous and traversable without traversing a bridge location multiple times;

storing additive manufacturing instructions in memory based on the generated toolpath; and

additively manufacturing the object using a 3D printer by printing along the generated toolpath.

6. The method of claim 5 wherein the forming bridges between the plurality of contours includes inserting a first gap between a first contour to provide two disconnected vertices of the first contour, inserting a second gap between a second contour to provide two disconnected vertices of the second contour, connecting one of the disconnected vertices of the first contour with one of the disconnected vertices of the second contour, connecting the other disconnected vertex of the first contour with the other disconnected vertex of the second contour.

7. The method of claim 5 including counting a number of paths emanating from each vertex of the plurality of vertices of the plurality of contours and forming bridges such that the number of paths emanating from each vertex in the toolpath is an even number of paths.