Prototype making by robotic 3D printer

Tema ovog diplomskog rada je primjena robota za izradu prototipova postupkom 3D tiskanja. U uvodom dijelu objašnjen je proces 3D tiskanja, poglavito postupak taložnog očvršćivanja (eng. Fused Deposition Modeling – FDM) koji je primijenjen u radu. Potom je dan pregled elemenata koji su potrebni za razvoj upravljanja 3D tiskačem na Arduino platformi. U nastavku su oblikovani dijelovi za montažu sklopa za 3D tiskanje na robotsku ruku. Za generiranje trajektorija nanošenja materijala po slojevima korišten je softver RoboDK, a za podešavanje parametra Slic3r. U radu je također razvijen program za upravljanje koračnim motorom ekstrudera i provedena je regulacija nekih parametara. U drugome dijelu rada prikazani su rezultati provedenih testiranja, preporuke, komentari i ponuđena rješenja za postizanje bolje kvalitete izrade modela.The topic of this master thesis is prototyping using a robotic 3D printer. The introduction part describes the process of 3D printing, in particular, the Fused Deposition Modeling – FDM procedure which was used in the thesis. After that is a review of the elements which are needed for development of 3D printing control system on Arduino. In the following chapter the parts for the assembly of the 3D printer on the robot are designed. RoboDK software was used to generate layer by layer trajectory and Slic3r software was used to define parameters. In this thesis a program for controlling the stepper motor of the extruder was developed and regulation of some paramaters was carried out. In the second part of this thesis, the results of testing, recommendations, comments are presented and solutions for better model production are offered