Metamorphic manufacturing is a type of digital fabrication wherein robotic systems are employed to incrementally deform material into a desired shape. This approach has the potential to greatly reduce material waste compared to subtractive methods such as CNC milling, and can achieve material properties superior to what is possible with additive methods like 3D printing. The aim of this project is to develop a prototype metamorphic manufacturing system capable of shaping plasticine clay. Utilizing the 6-axis ABB IRB 1600 robotic arm equipped with a custom end-effector and interchangeable tools, a system was constructed to achieve this objective. A LiDAR camera was employed to capture accurate 3D models of the plasticine workpiece as it is being shaped. Automated tool-changing was also implemented to allow for a fully-automatic workflow.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Mavrotheris, Antoinette G.
• Gere, Nathan J.
• Beaver, Ryan N.
• Campbell, Ethan
• Muralt, Arnold W.

Publisher

• Worcester Polytechnic Institute

Identifier

• 21281
• E-project-050321-064645

Advisor

• Calli, Berk
• Putnam, Craig B.
• Powell, Adam Clayton
• Narra, Sneha Prabha

Year

• 2021

Date created

• 2021-05-03

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Robotics Engineering

Rights statement

• In Copyright

Last modified

• 2021-08-29