Path Planning Design for Robot Based Non-Planar Additive Manufacturing Case Study: Coronary Stent

摘要

This study investigates the application of non-planar additive manufacturing (NPAM) combined with robotic systems to enhance the production of coronary stents. Traditional additive manufacturing methods typically produce planar layers, which can limit the mechanical properties and surface quality of printed objects. In contrast, NPAM allows for the creation of continuous, curved layers, reducing anisotropic mechanical properties and minimizing stress concentrations. The methodology automates the generation of non-planar, axisymmetric layers, facilitating the fabrication of complex stent geometries that closely mimic the natural anatomy of coronary arteries. By employing advanced motion planning algorithms, robotic arms can precisely deposit materials along these curved trajectories, which may result in smoother surfaces and enhanced structural integrity. The study successfully generated trajectories for the case study and designed the necessary support structures, enabling fabrication on a cylindrical build platform giving a complete perspective of the usage of this methodology.