EP3000126A2 - A process and apparatus to manufacture a three-dimensional object - Google Patents

A process and apparatus to manufacture a three-dimensional object

Info

Publication number
EP3000126A2
EP3000126A2 EP14755928.0A EP14755928A EP3000126A2 EP 3000126 A2 EP3000126 A2 EP 3000126A2 EP 14755928 A EP14755928 A EP 14755928A EP 3000126 A2 EP3000126 A2 EP 3000126A2
Authority
EP
European Patent Office
Prior art keywords
electromagnets
printer head
array
dynamic component
dynamic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14755928.0A
Other languages
German (de)
French (fr)
Inventor
Hernando SANCHEZ-FADDIEV
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
OWL TECH
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP3000126A2 publication Critical patent/EP3000126A2/en
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/035—DC motors; Unipolar motors
    • H02K41/0352—Unipolar motors
    • H02K41/0354—Lorentz force motors, e.g. voice coil motors
    • H02K41/0356—Lorentz force motors, e.g. voice coil motors moving along a straight path
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
    • H02K2201/18—Machines moving with multiple degrees of freedom

Definitions

  • the invention is directed to a process and apparatus to manufacture a three- dimensional object by
  • Subtractive manufacturing or machining is any of various processes of turning, drilling and milling in which material comprising object sometimes referred to as raw material is cut into a desired final shape and size by a controlled material-removal process.
  • a mechanical arm is used to either remove the material from a raw object or to control the object interaction with the fixed mechanical tool.
  • controlled material removal are today collectively known as subtractive manufacturing, in distinction from processes of controlled material addition, such as 3D printing, which are known as additive manufacturing.
  • the mechanical arm is used to either control the position of the printer head that deposits material onto the collection table or to control the position of the collection table in respect to the fixed printer head.
  • the mechanical arm is controlling the dynamic component to provide correct positioning.
  • the present invention aims at providing a process and an apparatus, which does not have the above mentioned disadvantages. Summary of the invention
  • a 3-D printer comprising a material printer head for laying down successive layers of material, a support for a three dimensional object to be printed by the 3-D printer and an array of electromagnets positioned in an horizontal plane, the array of electromagnets is positioned above and/or below the material printer head and support for the three dimensional object and the array of electromagnets may, when in use, create a dynamic electromagnetic field which can change the position of either the material printer head or the support of the three dimensional object to be printed.
  • a subtractive manufacturing apparatus comprising a platform for attaching a starting object, one or more machining tools and an array of electromagnets positioned in an horizontal plane, the array of electromagnets is positioned above and/or below the platform and machining tools and the array of electromagnets may, when in use, create a dynamic electromagnetic field which can change the position of either the platform with the starting object or the machining tool or tools.
  • Applicant found that by substituting the mechanical arm suitable for either subtractive or additive manufacturing by an array of electromagnets which position the dynamic component by means of a dynamic magnetic field it is possible to achieve a more accurate positioning.
  • the effect of gravity is compensated by a dynamic electromagnetic field, providing levitation of the dynamic component and thus a friction-less positioning. Further, because of the absence of friction during positioning and the absence of moving components virtually no wear of the systems occurs, thereby reducing or making obsolete maintenance.
  • the described process and apparatuses can operate on greater distances under zero gravity conditions .
  • Figure 1 shows a 3-D printer according to the invention, not to scale.
  • Figure 2 shows a printer head for additive manufacturing setup.
  • Figure 3 shows a top view of an horizontal array of electromagnets
  • Figure 4 shows a side, cross-sectional view of the setup of the electromagnets and dynamic component.
  • Figure 5 shows a side, cross-sectional view of the setup of the electromagnets and a dynamic component
  • Figure 6 shows a model of magnetic interactions between two electromagnets.
  • Figure 7 shows the relation of force of interaction of small neodymium magnet and electromagnet with distance between them.
  • Figure 8 shows a subtractive manufacturing apparatus according to the invention.
  • the dynamic electromagnetic field is generated by an array of electromagnets positioned in an horizontal plane, the array of electromagnets is positioned above and/or below the dynamic component and wherein the positioning is performed by independently controlling more than one of the electromagnets of the array thereby controlling electromagnetic field in both (i) and (ii).
  • the material comprising object may be positioned as the dynamic component relative to the one or more machining tools or the one or more machining tools may as the dynamic component be positioned relative to the material comprising object.
  • the printer head as the dynamic component may be positioned relative to the three-dimensional object being manufactured or the three-dimensional object to be manufactured as the dynamic component may be positioned relative to the printer head.
  • the horizontal change of position of the dynamic component may be performed by increasing field intensity (generating torque) and therefore the attraction of the dynamic component to the a first set of electromagnets positioned in the direction of the desired motion in the array of electromagnets and decreasing field intensity in the second set of electromagnets positioned in the direction opposite to the motion.
  • the vertical change of position of the dynamic component may be performed by increasing or decreasing the magnetic field intensity of one or more electromagnets in the vicinity of the dynamic component.
  • Magnetic levitation of the dynamic component may be achieved by constantly adjusting the intensity of a magnetic field produced by electromagnet array using a feedback control loop.
  • Z-axis stability, levitation height, or vertical position is achieved by adjusting the field intensity generated by the electromagnets to compensate for the gravity of the earth, correlating the current position coordinate with the required intensity to adjust to the desired position.
  • the dynamic component may be tilted, i.e. subjected to a pitch, roll and/or yaw movement, by controlling the magnetic field intensity of one or more of the
  • electromagnets in the vicinity of the dynamic component.
  • the dynamic electromagnetic field is suitably generated by an array of electromagnets positioned in a first horizontal plane.
  • the array of electromagnets is suitably in a hexagonal lattice arrangement.
  • a base electromagnet may be positioned in a second horizontal plane adjacent to the first horizontal plane.
  • Such a base electromagnet is an optional component.
  • base electromagnet When included in the apparatus or process, base electromagnet will provide an homogeneous field intensity partially compensating gravity at the position of the dynamic component. Compensating earths' gravity results in either extention of the operational distance of the dynamic component or support of additional weight on the dynamic component.
  • Such a base electromagnet is therefore suitably used when the array of electromagnets is positioned below or above the dynamic component in the process or apparatus.
  • the electromagnets and the optional base electromagnets may be any known electromagnet, for example a superconducting electromagnet, a standard coil electromagnet or a so-called Bitter electromagnet as described by (Kato, Crouch, & Sar, 2005).
  • the position of the dynamic component is detected resulting in a set of position data.
  • the process will suitably make use of a feedback control system that adjusts the dynamic electromagnetic field by changing the magnetic field intensity of one or more electromagnets in the vicinity of the dynamic component in order to change the position of the dynamic component to a desired position using the set of position data as input.
  • the position of the dynamic component is suitably detected using one or a combination of the following position detection sensors: a triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD), a Hall Effect sensor, an accelerometer, a gyroscope and/or a camera or other position detection technologies.
  • the dynamic component In order to interact with a horizontal array of electromagnets the dynamic component must comprise one or more parts magnetic in nature. Such parts can be, however not limited to, permanent magnets, electromagnets, paramagnetic materials, diamagnetic materials, ferromagnetic materials and other materials with a magnetic permeability that allows force interactions with an array of electromagnets.
  • the magnetic field produced by these parts allows the dynamic component to be positioned by the electromagnetic field.
  • the electromagnets as present in the array can comprise a core of ferromagnetic material, such as iron.
  • a core results in increasing field intensity produced by the electromagnets and may achieve reduced power consumption by providing an attraction force with the dynamic component.
  • the additional attraction may compensate all or part of the gravity affecting the dynamic component. This is advantageous because then a lower magnetic field intensity and therefore lower power consumption is required for positioning of the dynamic component at the point where the gravity is compensated by the attraction to the
  • the invention is therefore also directed to a process or apparatus wherein the array of electromagnets having a metal core is positioned above the dynamic component and wherein the dynamic component comprises a magnetic part or parts as described above.
  • the three-dimensional object is formed by means of subtractive manufacturing of the starting object to the desired final shape and size by a controlled material-removal process using one or more machining tools and wherein the dynamic component is positioned by a dynamic electromagnetic field.
  • machining tools are an electric drill for CNC (Computer Numerical Control) operation or an electric saw for cutting.
  • the dynamic component is the material comprising object or sometimes referred to as raw material to be manufactured it can also be subjected to lathes, a material removal by high speed rotation of the raw material in contact with the indexable tools.
  • the dynamic component suitably is of a material which is negligibly affected by magnetic fields.
  • Such material may be metal and metal alloys such as aluminium, titanium and alloys thereof, organic and inorganic polymeric materials such as plastics material.
  • the invention is also directed to a subtractive manufacturing apparatus as described above.
  • a subtractive manufacturing apparatus also comprises a position detection sensor control system for detecting and controlling the position of the platform or the machining tool or machining tools and a feedback control system which in use compares the detected position data to a desired position, and adjusts the position of the platform or machining tool or machining tools by changing the magnetic field intensity of one or more electromagnets in the vicinity of the platform or machining tool or machining tools.
  • the position detection sensor may be one or a combination of the following position detection sensors: a triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD), a Hall Effect sensor, an accelerometer, a gyroscope and/or a camera or any combination of these sensors.
  • CCD/PSD charge-coupled position sensitive device
  • Hall Effect sensor an accelerometer
  • accelerometer a gyroscope and/or a camera or any combination of these sensors.
  • the array of electromagnets may be positioned in a first horizontal plane and a single base magnet in a second horizontal plane adjacent to the first horizontal plane as described above.
  • the electromagnets may also have a metal core as described above.
  • the apparatus has the array of magnets positioned above the platform and machining tools and wherein the platform or machining tools which can change position is provided with one or more magnetic parts.
  • the invention is also directed to the use of the subtractive manufacturing apparatus here described in a process as here described.
  • the manufacturing of the three-dimensional object is performed by addition of material using a printer head to form the three-dimensional object and wherein the dynamic component is positioned by a dynamic electromagnetic field to obtain the three-dimensional object and wherein either the printer head or the object is positioned by the dynamic electromagnetic field.
  • the printer head deposits successive layers of extrudable or wire based materials.
  • the materials are suitably negligibly affected by magnetic fields and may comprise metals and metal alloys and organic and inorganic polymeric materials. Examples of metals are aluminium, titanium and alloys thereof. Examples of organic and inorganic polymeric materials are plastic and ceramics material.
  • the invention is also directed to a computer implemented method for position and control of the platform or the machining tool or machining tools of the above apparatus, wherein a programmed computer controls the position of the dynamic component.
  • the invention is also directed to the software when used in a computer on a computer readable storage.
  • the invention is also directed to a 3-D printer as described above.
  • the printer head preferably comprises one or more magnetic parts as described above if the printer head is the dynamic component.
  • the magnets employed by the printer head may for example be permanent or, in case the printer head has an additional current source, electromagnets.
  • Product construction can be achieved through additive processes. Several technologies can be employed, among others, extrusion printing, for example fused deposition modelling. In the extrusion 3D printing, the material, polymer, metal or other, is melted inside a fixed injector system that may be located above the levitated printer head.
  • the 3-D printer also suitably comprises a position detection sensor control system for detecting and controlling the printer head or the support and a control feedback system which, in use, compares the detected position data to a desired position, and adjusts the position of the material printer head or support by changing the magnetic field intensity of one or more electromagnets in the vicinity of the printer head or support.
  • the position detection sensor is suitably one or a combination of the following position detection sensors: triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD), a Hall Effect sensor, an accelerometer, a gyroscope and/or a camera.
  • the array of electromagnets of the 3-D printer may be positioned in a first horizontal plane and a single base electromagnet in a second horizontal plane adjacent to the first horizontal plane as described above.
  • the electromagnets may also have a metal core as described above.
  • the apparatus has the array of magnets positioned above the material printer head and support for the three dimensional object and wherein position change is provided by interacting with a magnetic part of the dynamic component.
  • the invention is also directed to the use of the 3-D printer here described in a process as here described.
  • the invention is also directed to a computer implemented method for position and control of the printer head or the support of the 3-D printer described above, wherein a programmed computer controls the printer head position or support position and the control feedback system.
  • the invention is also directed to the software when used in a computer on a computer readable storage.
  • Figure 1 shows schematics of a 3-D printer according to the invention.
  • a printer head 3 is positioned by the means of a magnetic field generated by two types of electromagnets, depicted as an array of electromagnets 1 and top base electromagnet 2. Due to dynamic sensor control system the printer head 3 is steadily levitated or its position is manipulated with at least three degrees of freedom to even 6 degrees of freedom (referring to pitch roll and yaw) by the means of electromagnetic field generated by the electromagnets above.
  • Each cylinder represents an independently controllable electromagnet.
  • the array of electromagnets shown is positioned in one plane, however the actual number of electromagnets and geometry may be different from shown. In figure 1, the position of printer head 3 is controlled by the
  • the material delivery mechanism 5 is located either directly on the printer head or separately with a flexible connection, as also shown on figure 1.
  • a position detection system 4 is shown connected with sensor control system.
  • the human figure is provided solely as a visual reference, as the device is not scale dependent.
  • the suspended and movable printer head provides the delivery mechanism for the material to be extruded to achieve the final product geometry.
  • the upside-down setup where the printer head is hovering above the magnet is also viable by employing the same electromagnetic control principle.
  • the printer head may function as a hovering collection table with fixed material delivery system.
  • Figure 2 shows a schematic representation of the printer head 3 and material delivery system 5 with printed components 4 located below the printer head.
  • the printer head has three permanent magnetic parts 9 that are responsible for the interaction with the array above the platform.
  • Figure 3 shows a top view of an array of electromagnets 1 and 2 (contour outlined) for positioning of the printer head 3 (contour and magnetic parts outlined).
  • the levitating printer head contains three magnetic parts, represented with bold stroke line within 3.
  • Each circle in the array 1 represents independently controllable electromagnet, wherein the darker coloured electromagnets represents active magnets used to position printer head 3 and the lighter coloured electromagnets are inactive electromagnets.
  • the array 1 of circular electromagnets is arranged in a hexagonal lattice arrangement.
  • the array of electromagnets 1 may be as shown are in tight arrangement that provides high field intensity. Two requirements are suitably met in order to sustain the levitation of the printer head.
  • the sensor control system must be able to independently control the intensity of the magnetic field generated by the array of electromagnets 1 and optionally base magnet 2.
  • the sensor control system is able to independently control the field intensity generated by each of the electromagnets.
  • Only the electromagnets in the direct vicinity of the magnetic parts of printer head 3 are required to be activated as shown in Figure 3.
  • Independently controlled electromagnets maintain both: the horizontal position X / Y, height Z and the pitch, roll and yaw, between printer head and the magnet array 1 of the printer head 3.
  • Position detection and sensor control system 4 can employ one or a combination of the following position detection sensors: triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD) Sensor, Hall Effect sensor, accelerometer, gyroscope or optical camera. Once the position of the printer head is obtained, adjustment / movement is achieved via activation of electromagnets in the printer head vicinity.
  • CCD/PSD charge-coupled position sensitive device
  • Figure 4 illustrates pitch / row control.
  • Figure 4 shows a side, cross-sectional view of the setup of the electromagnets for positioning of the printer head 3 by the means of the magnetic field generated by electromagnets 1 (A-F) and base electromagnet 2.
  • Each rectangle in 1 represents independently controllable electromagnet positioned in an array, of which only few are shown.
  • the printer head 3 is provided with (visualized) two magnetic parts whose force interactions are shown with arrows.
  • Figure 4 shall be used to illustrate how the electromagnets influence the positioning of the printer head by interacting with magnetic parts.
  • Figure 4 illustrates a case where the printer head is adjusted until it reaches the horizontal position, which can be achieved by generating torque through the following algorithm:
  • Figure 5 illustrates the X-Y control or horizontal movement of the dynamic component.
  • Figure 5 shall be used to illustrate how the electromagnets influence the positioning of the printer head and shows a side, cross-sectional view of the setup of the electromagnets for positioning of the printer head 3 as in Figure 4.
  • the printer head 3 in Figure 5 may be provided with a horizontal movement, which can be achieved by the following algorithm:
  • a) Detect the position of the printer head by the means of position detection system. b) Select the set of electromagnets (A, B, D, E) located below the magnetic parts on the direction of the printer head motion and set of electromagnets (C, F) on the opposite direction.
  • printer head height (Z-axis control) is controlled by increasing field intensity of all the magnets in the vicinity of printer heads' magnets and/or by employing an optional base electromagnet.
  • Figure 6 is used to illustrate the field interactions. The theory of the amount of force that can achieve by interaction of magnets is described in some detail below. Below is the estimation of the force exerting by a coil on a small neodymium magnet with geometrical characteristics described in Figure 6.
  • Figure 6 shows a model of magnetic interactions between small cylindrical neodymium magnet (left) of diameter 5 mm and 15 mm length and an electromagnet with a diameter of one meter and height of 50 cm.
  • the force i nteracting between two magnets is estimated using Gilbert Model. While physically inexact on short proximity to the magnet, the Gilbert model is well suited for description of interactions between two magnets on a distance, as required by the setup.
  • Gilbert model is a simplification of Ampere model that most commonly used to estimate macro- interactions.
  • F magnitude of force (newton)
  • qr ml and q m2 are the magnitudes of magnetic poles (ampere-meter)
  • ⁇ is the permeability of the intervening medium (tesla meter per ampere)
  • d is the separation (SI unit: meter).
  • B Q is a magnetic field at the end of the coil
  • A is an area of the interacting surface of the magnet or wire loop area in case of the coil
  • L is the length of the magnet or coil
  • R the radius of the magnet
  • F ns is a force exert by the north pole of the printer head to the south pole of the gradient magnet
  • F nn is the force exert by interaction of north pole of a printer head with north printer head of a coil and so on.
  • Support material SI contains the matlab routine employed for the calculus of Figure 7.
  • Figure 8 shows a subtractive apparatus where the platform is controlled via magnetic fields generated by an array of electromagnets 1. Also shown is a base electromagnet 2. The object 11 to be machined 3 is positioned (levitating) by the means of a magnetic field generated by electromagnets 1 and 2. Object 11 is attached to a platform 7 provided with three permanent magnets 10. A sensor-control positioning system 4 is shown. Also shown are subtractive manufacturing tools 12, from left to right: Electric drill for CNC operation, electric saw for cutting and a turning component. Turning component may be used to machine a quickly rotating moving object 11. References

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)

Abstract

The invention is directed to a process and apparatus to manufacture a three-dimensional object by starting with material and comprising object and manufacturing the three-dimensional object by means of subtractive manufacturing of the starting object to a desired final shape and size by a controlled material-removal process using one or more machining tools and wherein the object or the one or more machining tools, hereinafter referred to as the dynamic component, are positioned by a dynamic electromagnetic field or (ii) by addition of material using a material printer head to form the three-dimensional object and wherein the material printer head or the three-dimensional object which is formed, hereinafter referred to as the dynamic component, are positioned relative to the three-dimensional object or printer head respectively by a dynamic electromagnetic field.

Description

A PROCESS AND APPARATUS TO MANUFACTURE A THREE-DIMENSIONAL OBJECT
Field of invention
The invention is directed to a process and apparatus to manufacture a three- dimensional object by
(i) starting with material and comprising object and manufacturing the three- dimensional object by means of subtractive manufacturing of the starting object to a desired final shape and size by a controlled material-removal process using one or more machining or
(ii) by addition of material using a material printer head to form the three-dimensional object.
Background of invention
Subtractive manufacturing or machining is any of various processes of turning, drilling and milling in which material comprising object sometimes referred to as raw material is cut into a desired final shape and size by a controlled material-removal process. In various different automated apparatus of subtractive manufacturing a mechanical arm is used to either remove the material from a raw object or to control the object interaction with the fixed mechanical tool. The many processes that have this common theme, controlled material removal, are today collectively known as subtractive manufacturing, in distinction from processes of controlled material addition, such as 3D printing, which are known as additive manufacturing. Similarly to subtractive manufacturing, in controlled material addition techniques, such as fusion deposition modelling, the mechanical arm is used to either control the position of the printer head that deposits material onto the collection table or to control the position of the collection table in respect to the fixed printer head. In both above-mentioned processes the mechanical arm is controlling the dynamic component to provide correct positioning.
However, there are issues with the use of mechanical arms; most of which are associated with the friction exerted by the joint parts. Since the friction and consequential wearing-off of the parts reduces the size of the components conforming the mechanical arm, both the end point positioning (precision) and velocity control of the mechanical arm (operational speed) are affected (Zhu & Pagilla, 2002). The wear-off of the joints and bearings over time results in a deviation that, at best, require a replacement of parts and recalibration of the system, thereby increasing maintenance costs and reducing its robustness. In case of 3D printing, the presence of friction also results in a lower resolution of the layers, and hence in a les well defined surface and structure of the desired object. Moreover, the wear-off of the joints and bearings over time results in a deviation that, at best, require a replacement of parts and recalibration of the system, thereby increasing maintenance costs and reducing its robustness. While several techniques of friction compensation have been developed to deal with these problems (Vargas, Fieri, & Castelan, 2004), the main underlying cause, i.e. wearing of mechanical parts and therefore elevated costs of maintenance and short lifespan of such systems remain unsolved.
The present invention aims at providing a process and an apparatus, which does not have the above mentioned disadvantages. Summary of the invention
The above objective is solved by the following process. A process to manufacture a three-dimensional object by
(i) means of subtractive manufacturing wherein the three-dimensional object is manufactured by a controlled material-removal process from a material comprising object using one or more machining tools and wherein the object or the one or more machining tools, hereinafter referred to as the dynamic component, are positioned by a dynamic
electromagnetic field or
(ii) by addition of material using a printer head to form the three-dimensional object and wherein the printer head or the three-dimensional object being manufactured, hereinafter referred to as the dynamic component, is positioned by a dynamic electromagnetic field.
The invention is also directed to the following additive manufacturing apparatus. A 3-D printer comprising a material printer head for laying down successive layers of material, a support for a three dimensional object to be printed by the 3-D printer and an array of electromagnets positioned in an horizontal plane, the array of electromagnets is positioned above and/or below the material printer head and support for the three dimensional object and the array of electromagnets may, when in use, create a dynamic electromagnetic field which can change the position of either the material printer head or the support of the three dimensional object to be printed.
The invention is also directed to the following subtractive manufacturing apparatus. A subtractive manufacturing apparatus comprising a platform for attaching a starting object, one or more machining tools and an array of electromagnets positioned in an horizontal plane, the array of electromagnets is positioned above and/or below the platform and machining tools and the array of electromagnets may, when in use, create a dynamic electromagnetic field which can change the position of either the platform with the starting object or the machining tool or tools.
Applicant found that by substituting the mechanical arm suitable for either subtractive or additive manufacturing by an array of electromagnets which position the dynamic component by means of a dynamic magnetic field it is possible to achieve a more accurate positioning. The effect of gravity is compensated by a dynamic electromagnetic field, providing levitation of the dynamic component and thus a friction-less positioning. Further, because of the absence of friction during positioning and the absence of moving components virtually no wear of the systems occurs, thereby reducing or making obsolete maintenance. The described process and apparatuses can operate on greater distances under zero gravity conditions .
Further advantages will be described below.
Brief description of the Figures
The invention and some preferred embodiments shell be illustrated making use of Figures 1-8, which are for illustrative purpose only.
Figure 1 shows a 3-D printer according to the invention, not to scale.
Figure 2 shows a printer head for additive manufacturing setup.
Figure 3 shows a top view of an horizontal array of electromagnets
Figure 4 shows a side, cross-sectional view of the setup of the electromagnets and dynamic component. Figure 5 shows a side, cross-sectional view of the setup of the electromagnets and a dynamic component
Figure 6 shows a model of magnetic interactions between two electromagnets.
Figure 7 shows the relation of force of interaction of small neodymium magnet and electromagnet with distance between them.
Figure 8 shows a subtractive manufacturing apparatus according to the invention.
Detailed description of the invention
Positioning and moving an object by means of a dynamic electromagnetic field is known and for example described in Khamesee et al. (Khamesee & Shameli, 2005). Suitably the dynamic electromagnetic field is generated by an array of electromagnets positioned in an horizontal plane, the array of electromagnets is positioned above and/or below the dynamic component and wherein the positioning is performed by independently controlling more than one of the electromagnets of the array thereby controlling electromagnetic field in both (i) and (ii).
In (i) the material comprising object may be positioned as the dynamic component relative to the one or more machining tools or the one or more machining tools may as the dynamic component be positioned relative to the material comprising object. In (ii) the printer head as the dynamic component may be positioned relative to the three-dimensional object being manufactured or the three-dimensional object to be manufactured as the dynamic component may be positioned relative to the printer head.
The horizontal change of position of the dynamic component may be performed by increasing field intensity (generating torque) and therefore the attraction of the dynamic component to the a first set of electromagnets positioned in the direction of the desired motion in the array of electromagnets and decreasing field intensity in the second set of electromagnets positioned in the direction opposite to the motion.
The vertical change of position of the dynamic component may be performed by increasing or decreasing the magnetic field intensity of one or more electromagnets in the vicinity of the dynamic component. Magnetic levitation of the dynamic component may be achieved by constantly adjusting the intensity of a magnetic field produced by electromagnet array using a feedback control loop. Z-axis stability, levitation height, or vertical position, is achieved by adjusting the field intensity generated by the electromagnets to compensate for the gravity of the earth, correlating the current position coordinate with the required intensity to adjust to the desired position.
In general the dynamic component may be tilted, i.e. subjected to a pitch, roll and/or yaw movement, by controlling the magnetic field intensity of one or more of the
electromagnets in the vicinity of the dynamic component.
The dynamic electromagnetic field is suitably generated by an array of electromagnets positioned in a first horizontal plane. The array of electromagnets is suitably in a hexagonal lattice arrangement. Suitably a base electromagnet may be positioned in a second horizontal plane adjacent to the first horizontal plane. Such a base electromagnet is an optional component. When included in the apparatus or process, base electromagnet will provide an homogeneous field intensity partially compensating gravity at the position of the dynamic component. Compensating earths' gravity results in either extention of the operational distance of the dynamic component or support of additional weight on the dynamic component. Such a base electromagnet is therefore suitably used when the array of electromagnets is positioned below or above the dynamic component in the process or apparatus.
The electromagnets and the optional base electromagnets may be any known electromagnet, for example a superconducting electromagnet, a standard coil electromagnet or a so-called Bitter electromagnet as described by (Kato, Crouch, & Sar, 2005).
The position of the dynamic component is detected resulting in a set of position data. The process will suitably make use of a feedback control system that adjusts the dynamic electromagnetic field by changing the magnetic field intensity of one or more electromagnets in the vicinity of the dynamic component in order to change the position of the dynamic component to a desired position using the set of position data as input. The position of the dynamic component is suitably detected using one or a combination of the following position detection sensors: a triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD), a Hall Effect sensor, an accelerometer, a gyroscope and/or a camera or other position detection technologies.
In order to interact with a horizontal array of electromagnets the dynamic component must comprise one or more parts magnetic in nature. Such parts can be, however not limited to, permanent magnets, electromagnets, paramagnetic materials, diamagnetic materials, ferromagnetic materials and other materials with a magnetic permeability that allows force interactions with an array of electromagnets. The magnetic field produced by these parts allows the dynamic component to be positioned by the electromagnetic field.
The electromagnets as present in the array can comprise a core of ferromagnetic material, such as iron. Such a core results in increasing field intensity produced by the electromagnets and may achieve reduced power consumption by providing an attraction force with the dynamic component. When the array of such electromagnets is positioned above the dynamic component the additional attraction may compensate all or part of the gravity affecting the dynamic component. This is advantageous because then a lower magnetic field intensity and therefore lower power consumption is required for positioning of the dynamic component at the point where the gravity is compensated by the attraction to the
ferromagnetic core. The invention is therefore also directed to a process or apparatus wherein the array of electromagnets having a metal core is positioned above the dynamic component and wherein the dynamic component comprises a magnetic part or parts as described above.
In a first embodiment the three-dimensional object is formed by means of subtractive manufacturing of the starting object to the desired final shape and size by a controlled material-removal process using one or more machining tools and wherein the dynamic component is positioned by a dynamic electromagnetic field. Examples of possible machining tools are an electric drill for CNC (Computer Numerical Control) operation or an electric saw for cutting. If the dynamic component is the material comprising object or sometimes referred to as raw material to be manufactured it can also be subjected to lathes, a material removal by high speed rotation of the raw material in contact with the indexable tools.
When the object to be manufactured by the subtractive process the dynamic component suitably is of a material which is negligibly affected by magnetic fields. Such material may be metal and metal alloys such as aluminium, titanium and alloys thereof, organic and inorganic polymeric materials such as plastics material.
The invention is also directed to a subtractive manufacturing apparatus as described above. Suitably such a subtractive manufacturing apparatus also comprises a position detection sensor control system for detecting and controlling the position of the platform or the machining tool or machining tools and a feedback control system which in use compares the detected position data to a desired position, and adjusts the position of the platform or machining tool or machining tools by changing the magnetic field intensity of one or more electromagnets in the vicinity of the platform or machining tool or machining tools.
The position detection sensor may be one or a combination of the following position detection sensors: a triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD), a Hall Effect sensor, an accelerometer, a gyroscope and/or a camera or any combination of these sensors.
The array of electromagnets may be positioned in a first horizontal plane and a single base magnet in a second horizontal plane adjacent to the first horizontal plane as described above. The electromagnets may also have a metal core as described above. Suitably the apparatus has the array of magnets positioned above the platform and machining tools and wherein the platform or machining tools which can change position is provided with one or more magnetic parts.
The invention is also directed to the use of the subtractive manufacturing apparatus here described in a process as here described.
In another embodiment of the invention the manufacturing of the three-dimensional object is performed by addition of material using a printer head to form the three-dimensional object and wherein the dynamic component is positioned by a dynamic electromagnetic field to obtain the three-dimensional object and wherein either the printer head or the object is positioned by the dynamic electromagnetic field. In such a process the printer head deposits successive layers of extrudable or wire based materials. The materials are suitably negligibly affected by magnetic fields and may comprise metals and metal alloys and organic and inorganic polymeric materials. Examples of metals are aluminium, titanium and alloys thereof. Examples of organic and inorganic polymeric materials are plastic and ceramics material.
The invention is also directed to a computer implemented method for position and control of the platform or the machining tool or machining tools of the above apparatus, wherein a programmed computer controls the position of the dynamic component. The invention is also directed to the software when used in a computer on a computer readable storage.
The invention is also directed to a 3-D printer as described above. The printer head preferably comprises one or more magnetic parts as described above if the printer head is the dynamic component. The magnets employed by the printer head may for example be permanent or, in case the printer head has an additional current source, electromagnets. Product construction can be achieved through additive processes. Several technologies can be employed, among others, extrusion printing, for example fused deposition modelling. In the extrusion 3D printing, the material, polymer, metal or other, is melted inside a fixed injector system that may be located above the levitated printer head.
As in the above described subtractive manufacturing apparatus the 3-D printer also suitably comprises a position detection sensor control system for detecting and controlling the printer head or the support and a control feedback system which, in use, compares the detected position data to a desired position, and adjusts the position of the material printer head or support by changing the magnetic field intensity of one or more electromagnets in the vicinity of the printer head or support. The position detection sensor is suitably one or a combination of the following position detection sensors: triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD), a Hall Effect sensor, an accelerometer, a gyroscope and/or a camera.
The array of electromagnets of the 3-D printer may be positioned in a first horizontal plane and a single base electromagnet in a second horizontal plane adjacent to the first horizontal plane as described above. The electromagnets may also have a metal core as described above. Suitably the apparatus has the array of magnets positioned above the material printer head and support for the three dimensional object and wherein position change is provided by interacting with a magnetic part of the dynamic component.
The invention is also directed to the use of the 3-D printer here described in a process as here described.
The invention is also directed to a computer implemented method for position and control of the printer head or the support of the 3-D printer described above, wherein a programmed computer controls the printer head position or support position and the control feedback system. The invention is also directed to the software when used in a computer on a computer readable storage.
Detailed description of the Figures
Figure 1 shows schematics of a 3-D printer according to the invention. A printer head 3 is positioned by the means of a magnetic field generated by two types of electromagnets, depicted as an array of electromagnets 1 and top base electromagnet 2. Due to dynamic sensor control system the printer head 3 is steadily levitated or its position is manipulated with at least three degrees of freedom to even 6 degrees of freedom (referring to pitch roll and yaw) by the means of electromagnetic field generated by the electromagnets above. Each cylinder represents an independently controllable electromagnet. The array of electromagnets shown is positioned in one plane, however the actual number of electromagnets and geometry may be different from shown. In figure 1, the position of printer head 3 is controlled by the
electromagnets 1 and 2. The material delivery mechanism 5 is located either directly on the printer head or separately with a flexible connection, as also shown on figure 1. A position detection system 4 is shown connected with sensor control system. Also shows in a three- dimensional object 6 to be manufactured positioned on a support 7. The human figure is provided solely as a visual reference, as the device is not scale dependent. The suspended and movable printer head provides the delivery mechanism for the material to be extruded to achieve the final product geometry.
While component positioning described in the setup of Figure 1 suspends the printer head below the magnets, the upside-down setup, where the printer head is hovering above the magnet is also viable by employing the same electromagnetic control principle. In the upside- down setup the printer head may function as a hovering collection table with fixed material delivery system. By moving the platform (printer head before) with high precision while the material is injected above the platform, layer by layer, we achieve the desired shape of the final product.
Figure 2 shows a schematic representation of the printer head 3 and material delivery system 5 with printed components 4 located below the printer head. The printer head has three permanent magnetic parts 9 that are responsible for the interaction with the array above the platform.
Figure 3 shows a top view of an array of electromagnets 1 and 2 (contour outlined) for positioning of the printer head 3 (contour and magnetic parts outlined). The levitating printer head contains three magnetic parts, represented with bold stroke line within 3. Each circle in the array 1 represents independently controllable electromagnet, wherein the darker coloured electromagnets represents active magnets used to position printer head 3 and the lighter coloured electromagnets are inactive electromagnets. The array 1 of circular electromagnets is arranged in a hexagonal lattice arrangement. The array of electromagnets 1 may be as shown are in tight arrangement that provides high field intensity. Two requirements are suitably met in order to sustain the levitation of the printer head. First, the position of the printer head must be known at all times, and second, the sensor control system must be able to independently control the intensity of the magnetic field generated by the array of electromagnets 1 and optionally base magnet 2. To adjust the position of the printer head, the sensor control system is able to independently control the field intensity generated by each of the electromagnets. However, only the electromagnets in the direct vicinity of the magnetic parts of printer head 3 (outlined in bold) are required to be activated as shown in Figure 3. Independently controlled electromagnets maintain both: the horizontal position X / Y, height Z and the pitch, roll and yaw, between printer head and the magnet array 1 of the printer head 3. Position detection and sensor control system 4 can employ one or a combination of the following position detection sensors: triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD) Sensor, Hall Effect sensor, accelerometer, gyroscope or optical camera. Once the position of the printer head is obtained, adjustment / movement is achieved via activation of electromagnets in the printer head vicinity.
Figure 4 illustrates pitch / row control. Figure 4 shows a side, cross-sectional view of the setup of the electromagnets for positioning of the printer head 3 by the means of the magnetic field generated by electromagnets 1 (A-F) and base electromagnet 2. Each rectangle in 1 represents independently controllable electromagnet positioned in an array, of which only few are shown. The printer head 3 is provided with (visualized) two magnetic parts whose force interactions are shown with arrows. Figure 4 shall be used to illustrate how the electromagnets influence the positioning of the printer head by interacting with magnetic parts. Figure 4 illustrates a case where the printer head is adjusted until it reaches the horizontal position, which can be achieved by generating torque through the following algorithm:
1. Detect the angle of inclination of the printer head by the means of position
detection system.
2. Select the set of electromagnets (A, B, C) in the direct vicinity of the printer head lower magnet and set of electromagnets (D, E, F) in the vicinity of the printer head higher magnet.
3. Generate torque by increasing the magnetic field intensity in the vicinity of lower end of the printer head by the means of electromagnets A, B, C and decrease the magnetic field intensity (or even switch field orientation in case the gravity is absent) in the vicinity of the higher end of the printer head by the means of electromagnets D, E, F.
4. Go to step 1.
Figure 5 illustrates the X-Y control or horizontal movement of the dynamic component. Figure 5 shall be used to illustrate how the electromagnets influence the positioning of the printer head and shows a side, cross-sectional view of the setup of the electromagnets for positioning of the printer head 3 as in Figure 4. The printer head 3 in Figure 5 may be provided with a horizontal movement, which can be achieved by the following algorithm:
a) Detect the position of the printer head by the means of position detection system. b) Select the set of electromagnets (A, B, D, E) located below the magnetic parts on the direction of the printer head motion and set of electromagnets (C, F) on the opposite direction.
c) Generate torque by increasing the magnetic field intensity in the vicinity opposite to the direction of movement (C, F) and decrease the magnetic field intensity (or even switch orientation) in the electromagnets in the direction of printer head motion (A, B, D, E).
d) Go to step 1.
In all cases (Figure 4 and 5) printer head height (Z-axis control) is controlled by increasing field intensity of all the magnets in the vicinity of printer heads' magnets and/or by employing an optional base electromagnet.
Figure 6 is used to illustrate the field interactions. The theory of the amount of force that can achieve by interaction of magnets is described in some detail below. Below is the estimation of the force exerting by a coil on a small neodymium magnet with geometrical characteristics described in Figure 6. Figure 6 shows a model of magnetic interactions between small cylindrical neodymium magnet (left) of diameter 5 mm and 15 mm length and an electromagnet with a diameter of one meter and height of 50 cm. The force i nteracting between two magnets is estimated using Gilbert Model. While physically inexact on short proximity to the magnet, the Gilbert model is well suited for description of interactions between two magnets on a distance, as required by the setup. Gilbert model is a simplification of Ampere model that most commonly used to estimate macro- interactions.
Classically the force between two magnetic poles in Gilbert model is given by:
Where F is magnitude of force (newton), qrmland qm2 are the magnitudes of magnetic poles (ampere-meter), μ is the permeability of the intervening medium (tesla meter per ampere) and d is the separation (SI unit: meter).
The magnitude of magnetic poles required by above equation for both coil and cylindrical magnet can be calculated by:
Where BQ is a magnetic field at the end of the coil, A is an area of the interacting surface of the magnet or wire loop area in case of the coil, L is the length of the magnet or coil, R the radius of the magnet, and μ0ϊ≤ the permeability of space.
The resulting Force on the magnetic dipole in Gilbert models at the setup in figure 6 is therefore:
Fr ~ Fns ~ Fnn Ί" ^sn ~ ^ss
Where Fns is a force exert by the north pole of the printer head to the south pole of the gradient magnet, Fnn is the force exert by interaction of north pole of a printer head with north printer head of a coil and so on. Assuming the base magnets to have magnetic field at the end of the coil of 1.5 Tesia and neodymium printer head to have magnetic field of 1.4 Tesia we can estimate the force applied on the magnetic dipole in relation to the distance. Such relation is visualized in Figure 7.
The resulting theoretical pressure exert on the printer head by the proposed electro magnet at ten centimetres distance are in excess of 200 Newton. Such force allows for the suspension of a printer head with the weight in excess of 20 kilograms. Support material SI contains the matlab routine employed for the calculus of Figure 7.
Figure 8 shows a subtractive apparatus where the platform is controlled via magnetic fields generated by an array of electromagnets 1. Also shown is a base electromagnet 2. The object 11 to be machined 3 is positioned (levitating) by the means of a magnetic field generated by electromagnets 1 and 2. Object 11 is attached to a platform 7 provided with three permanent magnets 10. A sensor-control positioning system 4 is shown. Also shown are subtractive manufacturing tools 12, from left to right: Electric drill for CNC operation, electric saw for cutting and a turning component. Turning component may be used to machine a quickly rotating moving object 11. References
Kato, K. G., Crouch, D. D., & Sar, D. R. (2005). Improved Magneto-Cumulative Generator
Performance by Using Variable Bitter Coil-Type Stator Windings. 2005 IEEE Pulsed Power Conference, doi: 10.1109/PPC.2005.300708 Khamesee, M. B., & Shameli, E. (2005). Regulation technique for a large gap magnetic field for 3D non-contact manipulation. Mechatronics, 15, 1073-1087.
doi:10.1016/j'.mechatronics.2005.06.005
Vargas, F. J. T., Fieri, E. R. De, & Castelan, E. B. (2004). Identification and friction compensation for an industrial robot using two degrees of freedom controllers. ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004., 2. doi: 10.1109/ICARCV.2004.1469006
Zhu, Y. Z. Y., & Pagilla, P. R. (2002). Static and dynamic friction compensation in trajectory
tracking control of robots. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. NO.02CH37292), 3. doi:10.1109/ROBOT.2002.1013630

Claims

A process to manufacture a three-dimensional object by
(i) means of subtractive manufacturing wherein the three-dimensional object is manufactured by a controlled material-removal process from a material comprising object using one or more machining tools and wherein the object or the one or more machining tools, hereinafter referred to as the dynamic component, are positioned by a dynamic electromagnetic field or
(ii) by addition of material using a material printer head to form the three-dimensional object and wherein the material printer head or the three-dimensional object being manufactured, hereinafter referred to as the dynamic component, is positioned by a dynamic electromagnetic field.
A process according to claim 1, wherein the dynamic electromagnetic field is generated by an array of electromagnets positioned in an horizontal plane, which array of electromagnets is positioned either above or below the dynamic component and wherein the positioning by the dynamic electromagnetic field in (i) or (ii) is performed by independently controlling more than one of the electromagnets of said array.
A process according to claim 2, wherein the horizontal change of position of the dynamic component is performed by increasing field intensity and therefore the attraction of the dynamic component to the a first set of electromagnets positioned in the direction of the desired motion in the array of electromagnets and decreasing field intensity in the second set of electromagnets positioned in the direction opposite to the motion.
A process according to any one of claims 2-3, wherein the vertical change of position of the dynamic component is performed by increasing or decreasing the magnetic field intensity of one or more of the electromagnets in the vicinity of the object, printer head or machining tool to be changed in position.
A process according to any one of claims 2-4, wherein the dynamic component is subjected to a pitch, roll and/or yaw movement by controlling the magnetic field intensity of one or more of the electromagnets in the vicinity of the dynamic object.
A process according to any one of claims 2-5, wherein the dynamic electromagnetic field is generated by an array of electromagnets positioned in a first horizontal plane and by a base electromagnet positioned in a second horizontal plane adjacent to the first horizontal plane, wherein the base electromagnet provides an homogeneous field intensity partially compensating gravity at the position of the dynamic component.
A process according to any one of claims 1-6, wherein the position of the dynamic component is detected resulting in a set of position data and wherein a feedback control system adjusts the electromagnetic field in order to change the position of the dynamic component to a desired position using the set of position data as input.
A process according to claim 7, wherein the position of the dynamic component is detected using one or a combination of the following position detection sensors:
triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD), a Hall Effect sensor, an accelerometer, a gyroscope and/or a camera.
A process according to any one of claims 1-8, wherein the dynamic component comprises one or more magnetic parts with a magnetic permeability that allows force interactions with an array of electromagnets.
A process according to any one of claims 2-9, wherein the electromagnets as present in the array comprise a core of ferromagnetic material.
11. A process according to claim 10, wherein the array of magnets is positioned above the dynamic component and wherein the dynamic component comprises one or more permanent magnets.
12. A process according to any one of claims 1-11, wherein the three-dimensional object is manufactured by a controlled material-removal process from a material comprising object using one or more machining tools and wherein the object or the one or more machining tools, hereinafter referred to as the dynamic component, are positioned by a dynamic electromagnetic field.
13. A process according to any one of the claims 1-11, wherein the manufacture of the
three-dimensional object is performed by addition of material using a printer head to form the three-dimensional object and wherein the dynamic component is positioned by a dynamic electromagnetic field.
14. A process according to claim 13, wherein the printer head lays down successive layers of extrudable or wire based materials, which materials are negligibly affected by magnetic fields to obtain the three-dimensional object and wherein either the printer head or the object is positioned by the dynamic electromagnetic field.
15. A 3-D printer comprising a material printer head for laying down successive layers of material, a support for a three dimensional object to be printed by the 3-D printer and an array of electromagnets positioned in an horizontal plane, the array of
electromagnets is positioned above and/or below the material printer head and support for the three dimensional object and the array of electromagnets may, when in use, create a dynamic electromagnetic field which can change the position of either the material printer head or the support of the three dimensional object to be printed. A 3-D printer according to claim 15 also comprising a position detection sensor control system for detecting and controlling the printer head or the support and a control feedback system which, in use, compares the detected position data to a desired position, and adjusts the position of the material printer head or support by changing the magnetic field intensity of one or more electromagnets in the vicinity of the printer head or support.
A 3-D printer according to claim 16, wherein the position detection system employs one or a combination of the following position detection sensors: triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD), a Hall Effect sensor, an accelerometer, a gyroscope and/or a camera.
A 3-D printer according to any one of claims 15-17, wherein the array of electromagnets is positioned in a first horizontal plane and a single base electromagnet in a second horizontal plane adjacent to the first horizontal plane.
A 3-D printer according to any one of claims 15-18, wherein the electromagnet comprises a core of ferromagnetic material.
A 3-D printer according to claim 19, wherein the array of magnets is positioned above the material printer head and support for the three dimensional object and wherein the material printer head or the support of the three dimensional object to be printed which can change position is provided with one or more permanent magnets.
Use of the 3-D printer according to any one of claims 15-20 in a process according to any one of claims 13-14.
22. A subtractive manufacturing apparatus comprising a platform for attaching a starting object, one or more machining tools and an array of electromagnets positioned in an horizontal plane, the array of electromagnets is positioned above and/or below the platform and machining tools and the array of electromagnets may, when in use, create a dynamic electromagnetic field which can change the position of either the platform with the starting object or the machining tool or tools.
A subtractive manufacturing apparatus according to claim 22 also comprising a position detection sensor control system for detecting and controlling the position of the platform or the machining tool or machining tools and a feedback control system which in use compares the detected position data to a desired position, and adjusts the position of the platform or machining tool or machining tools by changing the magnetic field intensity of one or more electromagnets in the vicinity of the platform or machining tool or machining tools.
A subtractive manufacturing apparatus according to claim 23, wherein the position detection sensor is one or a combination of the following position detection sensors: triangulation laser scanner with charge-coupled position sensitive device (CCD/PSD), a Hall Effect sensor, an accelerometer, a gyroscope and/or a camera.
A subtractive manufacturing apparatus according to any one of claims 22-24, wherein the array of electromagnets is positioned in a first horizontal plane and a single base electromagnet in a second horizontal plane adjacent to the first horizontal plane.
A subtractive manufacturing apparatus according to any one of claims 22-25, wherein the electromagnet comprises a core of ferromagnetic material.
A subtractive manufacturing apparatus according to claim 26, wherein the array of magnets is positioned above the platform and machining tools and wherein the platform or machining tools which can change position is provided with one or more permanent magnets.
28. Use of the subtractive manufacturing apparatus according to any one of claims 22-27 in a process according to claim 11.
A computer implemented method for position and control of the printer head or the support according to claim 16, wherein a programmed computer controls the printer head position or support position and the control feedback system.
A computer implemented method for position and control of the platform or the machining tool or machining tools according to claim 23, wherein a programmed computer controls the platform or the machining tool or machining tools position and the control feedback system.
31. Claims to the software when used in a computer on a computer readable storage.
EP14755928.0A 2013-05-21 2014-05-21 A process and apparatus to manufacture a three-dimensional object Withdrawn EP3000126A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
NL2010826 2013-05-21
NL2011964 2013-12-14
NL2011963 2013-12-14
PCT/NL2014/050320 WO2014189371A2 (en) 2013-05-21 2014-05-21 A process and apparatus to manufacture a three-dimensional object

Publications (1)

Publication Number Publication Date
EP3000126A2 true EP3000126A2 (en) 2016-03-30

Family

ID=51417549

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14755928.0A Withdrawn EP3000126A2 (en) 2013-05-21 2014-05-21 A process and apparatus to manufacture a three-dimensional object

Country Status (2)

Country Link
EP (1) EP3000126A2 (en)
WO (1) WO2014189371A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10603486B2 (en) 2016-06-13 2020-03-31 Galvani Bioelectronics Limited Neural interface fabrication
EP3290187B1 (en) * 2016-08-29 2020-04-15 Airbus Operations GmbH 3d printer with hovering printing head or printing bed
WO2023094674A1 (en) * 2021-11-26 2023-06-01 Bellaseno Gmbh Method for forming a 3d object by an additive manufacturing machine with levitated print beds and corresponding additive manufacturing machine

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0529157A1 (en) * 1991-08-22 1993-03-03 Mitsubishi Jukogyo Kabushiki Kaisha Alternating current magnetic levitation transport system
KR100726711B1 (en) * 2005-12-30 2007-06-12 한국전기연구원 Wide area movement stage with magnetic levitation technology
US8084896B2 (en) * 2008-12-31 2011-12-27 Electro Scientific Industries, Inc. Monolithic stage positioning system and method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2014189371A2 *

Also Published As

Publication number Publication date
WO2014189371A2 (en) 2014-11-27
WO2014189371A3 (en) 2015-04-02

Similar Documents

Publication Publication Date Title
JP6918113B2 (en) A transport device with a stator for controlled transport of the carrier relative to the stator.
US11430683B2 (en) Conveying device for conveying at least one wafer
US11110593B2 (en) Robots and systems for automated storage and retrieval
US8169114B2 (en) Large gap horizontal field magnetic levitator
WO2014189371A2 (en) A process and apparatus to manufacture a three-dimensional object
KR102035210B1 (en) Device for holding, positioning and/or moving an object
US20210159769A1 (en) Transport system, mover, control apparatus, and control method
US20080246358A1 (en) Magnetic bearing spindle device for machine tool
JP6779484B2 (en) Mobile work robot support device and its operation method
JP2021525689A (en) How to control the transport unit of a transport device in the form of a long stator linear motor
JP2007075915A (en) Cutting method and device
Mehrtash et al. Optimal motion control of magnetically levitated microrobot
CN111673789B (en) Intelligent mechanical manufacturing grabbing equipment
US20230312271A1 (en) Substrate transport system
Kim et al. Control characteristics of passive maglev transport system
Karabegovic et al. 3D vision in industrial robot working process
CN116266733A (en) Micro-displacement centering device based on magnetic fluid
He et al. Development of a Lens Driving Maglev Actuator for Laser Beam Off-Axis Cutting and Deep Piercing
Chi et al. An observer-based active vibration isolation system using the voice-coil actuator
JP2020167929A (en) Conveyance system, movable element, control device, and control method
CN115900636A (en) Suspension sledge attitude measurement device and method
JP2008198134A (en) Movable table controller and movable table provided therewith
JP2006338283A (en) Positioning controller
Zhang et al. Study on Electromagnetic Repulsion Suspension of CNC Machine Guide System
Mizuno et al. Magnetic suspension system using three flux path control modules

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20151215

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: OWL TECH

RIN1 Information on inventor provided before grant (corrected)

Inventor name: OWL TECH

DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20171201