Methods and apparatus for additive manufacturing along user-specified toolpaths

{
  "publication_number": "US10737441B2",
  "country": "US",
  "kind": "B2",
  "title": "Methods and apparatus for additive manufacturing along user-specified toolpaths",
  "abstract": "One or more input/output devices accept user-inputted path instructions that specify a set of multiple deposition paths for an extruder to travel. An actuator actuates motion of the extruder along a trajectory that includes each of the deposition paths and also includes multiple non-deposition paths. For each deposition path: (a) the user-inputted path instructions specify a thickness of an object; and (b) the extruder extrudes the object in accordance with fabrication instructions computed by a computer based at least in part on the thickness. As the extruder moves over the entire trajectory, the extruder extrudes a set of objects, one object per deposition path. The objects adhere to each other to form an integral 3D structure. In some cases, the objects include functionally graded material.",
  "claims": [
    "1. A method comprising: (a) accepting, with one or more I/O devices, user-inputted path instructions that specify a set of multiple deposition paths for an extruder to travel; and (b) actuating physical motion of the extruder along a trajectory that includes each of the deposition paths and also includes multiple non-deposition paths, in such a way that the motion of the extruder along the trajectory includes the extruder moving along a deposition path, then along a non-deposition path, and then along another deposition path; wherein for each respective path in the set of deposition paths (i) the user-inputted path instructions specify a thickness of an object, and (ii) the method further includes extruding material from the extruder in accordance with fabrication instructions, which fabrication instructions are generated by a computer based at least in part on the thickness specified in the user-inputted path instructions.",
    "2. The method of claim 1, wherein the fabrication instructions specify (i) a pressure in the extruder or (ii) a parameter that is computed by a computer based at least in part on a pressure in the extruder.",
    "3. The method of claim 1, wherein the fabrication instructions specify (i) an extruder speed or (ii) a parameter that is computed by a computer based at least in part on an extruder speed.",
    "4. The method of claim 1, wherein the thickness is a vertical thickness.",
    "5. The method of claim 1, wherein the thickness is a horizontal thickness.",
    "6. The method of claim 1, wherein: (a) a stream of the material exits a nozzle of the extruder; and (b) material properties of the stream vary at different spatial positions of the stream.",
    "7. The method of claim 1, wherein a stream of the material exits a nozzle of the extruder in such a way that the stream has an inner core that consists of a first type of material and has an outer sheath that consists of a second type of material, the first and second types of material being different from each other.",
    "8. The method of claim 1, wherein: (a) the extruder includes a set of one or more nozzles; (b) material that exits the set of one or more nozzles comprises a first stream and a second stream; and (c) the first stream has different material properties than the second stream.",
    "9. The method of claim 1, wherein the method does not include steps that collectively comprise sliced layer-by-layer deposition.",
    "10. A method comprising: (a) accepting, with one or more I/O devices, user-inputted path instructions that specify a set of multiple deposition paths for an extruder to travel; (b) actuating physical motion of the extruder along a trajectory that includes each of the deposition paths and also includes multiple non-deposition paths, in such a way that the motion of the extruder along the trajectory includes the extruder moving along a deposition path, then along a non-deposition path, and then along another deposition path; and (c) extruding material from the extruder to form one or more objects.",
    "11. The method of claim 10, wherein, the extruding occurs while the extruder is moving along the deposition paths and not while the extruder is moving along the non-deposition paths.",
    "12. The method of claim 10, wherein for each respective path in the set of deposition paths: (a) the user-inputted path instructions specify a thickness of an object, and (b) the method further includes extruding the material from the extruder in accordance with instructions, which instructions are generated by a computer based at least in part on the thickness specified in the user-inputted path instructions.",
    "13. The method of claim 10, wherein one or more of the deposition paths are 3D curves.",
    "14. The method of claim 10, wherein: (a) the one or more objects comprise a set of multiple objects that are formed while the extruder moves along the set of deposition paths; (b) one object, in the set of objects, is formed per deposition path; and (c) each object in the set of objects adheres to at least one other object in the set of objects, in such a way that the set of objects together comprise an integral 3D structure.",
    "15. The method of claim 14, wherein: (a) the deposition paths include a path that is a 3D curve; (b) the 3D curve includes a first point and a second point, the second point being higher than the first point; and (c) as the extruder travels along the 3D curve, the extruder extrudes the material at both the first and second points, even though the extruder has not completed extrusion at all build points of the integral 3D structure that lie in a horizontal plane that intersects the first point.",
    "16. The method of claim 10, wherein each respective object that is formed by the extruding has material properties that vary as a function of spatial position within the respective object.",
    "17. The method of claim 10, wherein the method further comprises accepting input from a user, which input specifies one or more material properties of one or more materials to be extruded during a path in the set of deposition paths.",
    "18. The method of claim 17, wherein the input specifies a concentration for a mixture.",
    "19. The method of claim 10, wherein the method further comprises accepting input from a user, which input specifies at least one parameter out of a set of parameters that consists of (i) a type of nozzle of the extruder, (ii) nozzle speed, or (iii) a temperature.",
    "20. The method of claim 10, wherein the method does not include steps that collectively comprise sliced layer-by-layer deposition."
  ],
  "description_excerpt": "The present invention relates generally to additive manufacturing along user-specified toolpaths.\n\nIn illustrative implementations of this invention, an additive manufacturing system comprises an extruder, an actuator and I/O devices.\n\nThe I/O devices accept input from a user. The input includes user-inputted path instructions that specify a set of multiple deposition paths for an extruder to travel. For each of the deposition paths, the user-inputted path instructions specify parameters of an object to be extruded by the extruder while the extruder moves along the deposition path. For example, for a given deposition path, the parameters may specify a shape (sometimes called an extrusion geometry) of the object to be extruded during the deposition path. For example, specifying the shape of the object may comprise specifying a height or width of the object.\n\nThe actuator actuates motion of the extruder along a toolpath. The toolpath includes straight or curved segments in which the extruder extrudes material (deposition paths) and also includes straight or curved segments in which the extruder does not extrude material (non-deposition paths).\n\nThe deposition paths are specified by user-inputted path instructions. In many cases, deposition paths are interspersed between non-deposition paths. For example, in some cases, an extruder moving along a trajectory will move along a deposition path, then along a non-deposition path, and then along another deposition path.\n\nIn some cases, the actuator that moves the extruder is a robotic arm, and the extruder is attached to an end of the robotic arm.",
  "cpc": [
    "B29C 64/379",
    "B25J 9/1664",
    "B29C 64/106",
    "B29C 64/209",
    "B29C 64/336",
    "B29C 64/393",
    "B33Y 30/00",
    "B33Y 40/00",
    "B33Y 50/02",
    "G05B 15/02",
    "G06F 2119/18",
    "G06F 30/20"
  ],
  "ipc": [
    "B25J 9/16",
    "B29C 64/209",
    "B29C 64/379",
    "B29C 64/393",
    "B33Y 30/00",
    "B33Y 40/00",
    "B33Y 50/02",
    "G05B 15/02",
    "G06F 119/18",
    "G06F 30/20"
  ],
  "assignees": [
    "Massachusetts Institute of Technology"
  ],
  "inventors": [
    "Jorge Duro Royo",
    "Laia Mogas Soldevila",
    "Neri Oxman"
  ],
  "filing_date": "2019-03-27",
  "publication_date": "2020-08-11",
  "grant_date": "2020-08-11",
  "priority_date": "2014-09-15",
  "application_number": "US-201916367116-A",
  "family_id": "67212604",
  "cited_by_count": 0,
  "citations": [
    "US20110079936A1",
    "US20130120355A1",
    "US20140027952A1",
    "US20140074272A1",
    "US20140134334A1"
  ]
}