WO2023094674A1

WO2023094674A1 - Method for forming a 3d object by an additive manufacturing machine with levitated print beds and corresponding additive manufacturing machine

Info

Publication number: WO2023094674A1
Application number: PCT/EP2022/083548
Authority: WO
Inventors: Navid KHANI; Mohit Prashant Chhaya; Alexander Schneider
Original assignee: Bellaseno Gmbh
Priority date: 2021-11-26
Filing date: 2022-11-28
Publication date: 2023-06-01

Abstract

Various embodiments relate to a method for forming a three-dimensional object by an additive manufacturing machine comprising a first number of material ejection units and a second number of levitated print beds which are movable on a magnetic planar motor arrangement, the method comprising: controlling a position and/or movement of each of the levitated print beds of the additive manufacturing machine in a two-dimensional motion plane by means of a first mechanism comprising the magnetic planar motor arrangement, based on a first set of information, wherein the first set of information is based on information related the three-dimensional object to be formed; controlling a position and/or movement of each of the material ejection units along an axis relative to the two-dimensional motion plane by means of an individual second mechanism; and controlling an ejection of material by each of the material ejection units based on a second set of information, wherein the material is ejected onto the print bed to form at least one layer of the three-dimensional object during the controlled movement of the print beds. Furthermore, a corresponding additive manufacturing machine and a controller for an additive manufacturing machine are also provided.

Description

METHOD FOR FORMING A 3D OBJECT BY AN ADDITIVE MANUFACTURING MACHINE WITH LEVITATED PRINT BEDS AND CORRESPONDING ADDITIVE MANUFACTURING MACHINE

In various embodiments the present invention relates to a method for forming a three-dimensional object by an additive manufacturing machine with levitated print beds and a corresponding additive manufacturing machine.

BACKGROUND

The manufacturing of three-dimensional structures by means of additive manufacturing (AM) or 3D printing, which is its more popular name, has become widely prevalent in recent years. In 3D printing, objects or physical parts of any kind are manufactured by sequential deposition of material, characteristically layer by layer, on a print bed, which may be also referred to as the build platform. This process differs substantially from classical machining which works via subtraction of material off a material block by drilling, milling etc.

A 3D printer typically creates a 3D object based on a 3D model, which is designed beforehand using Computer Aided Design (CAD) software. The 3D model is sliced into layers by a slicing software (software engine). The 3D object is then manufactured, layer by layer, by moving an extruder nozzle of the 3D printer in a coordinated motion in the plane comprising the layer (e.g. x- and y-directions). Once a respective layer is finished, the extruder nozzle or the print bed containing the finished layer is moved vertically (e.g. z-direction) in order to begin with the extrusion process of the subsequent layer. In that manner, one by one successive layers of the print material are extruded until the object is fully build from bottom up (seen from the perspective of the 3D printer). The actions and the three- dimensional movements of the extruder nozzle which determine where the print material is to be extruded are specified and controlled by a computer numerical control (CNC) programming language. Typically, G-code is used for that purpose in consumer as well as in industrial 3D printers.

In order to move the extruder relative to the print bed, 3D printers usually include three separate linear motion systems, each of which is able to provide relative motion along one axis, wherein a stepper motor is used to drive each one of the linear motion systems. For controlling vertical relative motion between the extruder nozzle and the print bed along the z-axis, a lead screw is commonly used to lift or lower the print bed the build platform or the extruder up or down, respectively. For controlling movement of the extruder in planar x- and y-direction, perpendicular to the z-axis, belt drives are often used. A belt drive consists of a timing belt which engages with a toothed motor-driven pulley. By activating the motor, the pulley can be turned in order to pull the timing belt in a predetermined direction. A carriage accommodating the extruder is attached to the belt such that, ultimately, by superimposing uniaxial movements of the extruder along the x-axis and the y-axis, it can be moved in a 2D xy-plane. While the motion system described above is sufficient and mostly unproblematic for the vast majority of 3D applications, some applications which require a clean or even sterile manufacturing environment may be excluded from being manufactured by 3D printing. Since linear motion systems based on lead screws and timing belts rely on mechanical engagement of parts, they suffer from particle emission by abrasion/friction during their operation. In addition, lead screws require lubricants which may evaporate or be emitted otherwise and contaminate the extrudate. Such manufacturing conditions may be prohibited from use in the field of medical devices, for example in the manufacturing of implants which need to be manufactured with as low degree of foreign particle contamination as possible.

SUMMARY

Various embodiments relate to providing methods for forming a three-dimensional object by an additive manufacturing machine comprising a plurality of levitated print bed and to a corresponding additive manufacturing machine. Additionally, a controller according to various embodiments for an additive manufacturing machine of the aforementioned kind is provided. The method, the additive manufacturing machine, and the controller according to various embodiments may be advantageous in that they reduce friction during the operation of corresponding additive manufacturing machine thus reducing resultant particle emission and are therefore particularly eligible for the manufacture of medical devices, such as implants, and other objects, which require manufacturing in clean and/or sterile conditions.

In various embodiments, a method for forming a three-dimensional object by an additive manufacturing machine comprising a first number of material ejection units and a second number of levitated print beds which are movable on a magnetic planar motor arrangement is provided. The method includes a step of controlling a position and/or movement of a levitated print beds of the additive manufacturing machine in a to-dimensional motion plane by means of a fist mechanism comprising the magnetic planar motion arrangement based on a first set of information, wherein the first set of information is based on information related the three-dimensional object to be formed. The method further includes controlling a position and/or movement of each of the material ejection units along an axis relative to the two-dimensional motion plane by means of an individual (i.e corresponding) second mechanism. The method further includes controlling an ejection of material (e.g. print material) by an material ejection unit or material dispensing unit of the additive manufacturing machine, which will be referred to as an extruder in the following, based on a second set of information, wherein the material is ejected onto the print beds to form at least one layer of the three-dimensional object to be formed on the corresponding levitated print bed during the controlled movement of the print bed. The first set of information may comprise information relating to the thickness of the individual layers making up the object to be formed. Additionally, in various embodiments an additive manufacturing machine for forming a three- dimensional object is provided. The machine includes a magnetic planar motor arrangement; a first number of levitated print beds, which are movable in at least one axis, preferably on the magnetic planar motor arrangement, a second number of material ejection units for ejecting material onto the print beds to form at least one layer of the three-dimensional object on the respective levitated print bed, and controller circuitry configured to control movement of the print bed based on the first set of information. The additive manufacturing machine may be configured or correspond to a 3D-printer, a 4D-printer, a 5D-printer or a 6D-printer.

The levitated print bed which is movable in at least one axis may be movable in at least two axes which together span a two-dimensional motion plane. The two-dimensional motion plane may be oriented perpendicular to third axes along which the material ejection units of the additive manufacturing machine may be moved during the manufacturing process.

Additionally, in various embodiments a controller for an additive manufacturing machine comprising a first number of material ejection units and a second number of levitated print beds which are movable on a magnetic planar motor arrangement is provided, including a processing unit having a first output and a second output, wherein the processing unit is configured to provide a first control signal based on a first set of information for controlling movement, in at least one axis, preferably in a two-dimensional axis, of the levitated print beds of the additive manufacturing machine and a second control signal based on a second set of information for controlling an ejection of material by the respective material ejection unit of the additive manufacturing machine. The second set of information may comprise information relating to the geometrical shape of the layers making up the object to be formed.

Even though in the following the methods and devices of the present invention will be described on the basis of 3D-printing, which nowadays corresponds to the most prevalent form of additive manufacturing, it should be appreciated that they may rely to any of the known additive manufacturing processes and corresponding machines, such as fused filament fabrication (FFF), layer laminated manufacturing (LLM) and binder jetting, just to name a few examples. The inventive principle disclosed herein may be applied to any additive manufacturing process which relies on at least two- dimensional movement of a manufacturing surface relative to a material ejection portion of the machine.

DESCRIPTION OF THE DRAWINGS

The foregoing and other features of the present disclosure will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings. The accompanying drawings illustrate only several embodiments in accordance with the present invention and are, therefore, not to be considered as limiting its scope. Embodiments of the invention will be described with additional specificity and detail with reference to the drawings, such that the advantages of the present invention can be more readily ascertained, in which:

Fig. 1 shows an embodiment of the additive manufacturing machine according to the present invention;

Fig. 2 shows a flow chart of a method for forming a three-dimensional object by an additive manufacturing machine.

DETAILED DESCRIPTION

In the following detailed description, reference is made to the accompanying drawings that show, by way of illustration, specific embodiments in which the claimed subject matter may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the subject matter. It is to be understood that the various embodiments, although different, are not necessarily mutually exclusive. The terms "embodiment," "example embodiment," "exemplary embodiment," and "present embodiment" do not necessarily refer to a single embodiment, although they may, and various example embodiments may be readily combined and/or interchanged without departing from the scope or spirit of example embodiments. For example, a particular feature, structure, or characteristic described herein, in connection with one embodiment, may be implemented within other embodiments without departing from the spirit and scope of the claimed subject matter. References within this specification to “one embodiment” or “an embodiment” mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation encompassed within the present description. Therefore, the use of the phrase “one embodiment” or “in an embodiment” does not necessarily refer to the same embodiment. In addition, it is to be understood that the location or arrangement of individual elements within each disclosed embodiment may be modified without departing from the spirit and scope of the claimed subject matter. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the subject matter is defined only by the appended claims, appropriately interpreted, along with the full range of equivalents to which the appended claims are entitled. In the drawings, like numerals refer to the same or similar elements or functionality throughout the views, and elements depicted therein are not necessarily to scale with one another, rather individual elements may be enlarged or reduced in order to more easily comprehend the elements in the context of the present description.

The terms “over”, “to”, “between” and “on” as used herein may refer to a relative position of one manufactured (e.g. printed) layer with respect to other layers. One layer “over” or “on” another layer may be directly in contact with the other layer or may have one or more intervening layers. One layer “between” layers may be directly in contact with the layers or may have one or more intervening layers.

The terms "a," "an," and "the" may include singular and plural references. Furthermore, as used in the present disclosure and the appended claims, the words "and/or" may refer to and encompass any and all possible combinations of one or more of the associated listed items. As used in the present disclosure, the phrase "A and/or B" means (A), (B), or (A and B). As used in the present disclosure, the phrase "A, B, and/or C" means (A), (B), (C), (A and B), (A and C), (B and C), or (A, B and C). As used in the present disclosure, term “or” when used in the phrase "A, B, or C" means that (A) does not exclude (B) and (C), (B) does not exclude (A) and (C), and (C) does not exclude (A) and (B).

Fig. 1 shows an embodiment of the additive manufacturing machine 1 according to the present invention, which will be simply referred to as “the machine” in the following. From the point of view of its functionality, the machine 1, in principle, corresponds to a common additive manufacturing machine as known from prior art in the form of a 3D printer. However, the way how this functionality is achieved differs from common additive manufacturing machines.

The machine 1 includes an extruder (dispenser) 10 for ejecting material (will be referred to as print material in the following without meaning to restrict the additive manufacturing process to classical 3D printing) to form at least one layer of the three-dimensional object on a print bed 12. The extruder 10 is movable upwards and downwards along a vertical axis by means of a z-axis motion actuator 11, which will be referred to as motor 11 in the following. In Fig. 1 the vertical axis is parallel to a z-axis of the coordinate system 18 indicated in the figure. The print bed 12 is configured as a levitated platform which may be moved on a surface of a stator 13 of a magnetic planar motor arrangement 19 by means of a magnetic field. During operation of the machine 1, the levitated print bed 12 is held above the stator 13 and may be moved along at least one axis, preferably along a predetermined path in the two-dimensional motion plane, by the magnetic field generated by the magnetic planar motor arrangement 19. In general, levitation and movement of the print bed 12 above the surface of a stator 13 are supported by one or more magnetic fields generated by the magnetic planar motor arrangement 19 based on a first control signal SI. The motion plane, which generally defines the print plane, is spanned by the x- and the y-axis of the coordinate system 18 and is arranged perpendicular to the vertical axis along which the extruder 10 is moved. In that manner, an unrestricted three-dimensional relative movement between the levitated print bed 12 and the extruder 10 can be achieved. The machine 1 further includes a support frame from which the extruder unit, including the vertical axis motor 11 and the extruder 10, is supported.

The machine 1 according to the invention is characterized by different mechanisms which are used to move the print bend 12 in the print plane or motion plane and the extruder 10 along the vertical z-axis which is preferably arranged perpendicular to the motion plane. Namely, the extruder 10 may be moved vertically, i.e. towards and away from the stator 13, by an ordinary motor, e.g. a screw or belt driven motor, as principally known from prior art. It is sufficient for the motor 11 to provide uniaxial mobility to the extruder 10. The movement of the print bed 12 on the surface of the stator 13 is decoupled from the motor 11 and the extruder 10 and is effected by magnetic fields generated in the magnetic planar motor arrangement 19. The print bed 12 is levitated from the surface of the stator 13 through magnetic levitation and kept at a distance therefrom during the manufacturing process. The print bed 12 in the form of the levitated print platform is practically a free-floating platform, without cable-bound connections to its surrounding. It may be easily brought in and out of the field of operation of the extruder 10 (i.e. portion of the print plane which may be accessed by the nozzle of the extruder 10) such that, in the latter case, another print bed may be introduced into the field of operation of the extruder 10.

The machine 1 further includes a controller circuitry 15 configured to control movement of the print bed 12 based on a first set of information and on a second set of information. The controller circuitry 15 may be seen to correspond to the general or central controller of the machine 1. The controller circuitry 15 may include a first (processing) unit/module 16 in the form of a PLC (programmable logic controller), for example. The controller circuitry 15 may further include a second (processing) unit/module 17 which may be a CNC (computerized numerical control) based controller and which is communicatively coupled to the first unit 16. The second unit 17 is configured to generate, on the basis of signals received from the first unit 16, corresponding control signals SI, S2 and S3. This process may include conversion of the signals received from the first unit 16 into corresponding control signals SI, S2 and S3 by the second unit 17. Those signals are provided to active components of the machine 1, such as the extruder 10, the motor 11 for vertical movement thereof and the magnetic planar motor arrangement 19.

It is noted that the internal configuration of the controller circuitry 15 comprising the first unit 16 and the second unit is only one of many implementation scenarios and should not be construed as limiting. The first unit 16 may provide separate signals in the form of the extracted first, second and third set of information to the second unit 17 which may be configured to convert each of those signals into a respective control signal SI, S2 and S3. However, the first unit 16 may just as well provide an extracted set of information to the second unit 17 which may be configured to generate the control signals SI, S2 and S3 therefrom. The provision of the two units 16, 17 in the controller circuitry 15 is also one exemplary implementation, as the controller circuitry 15 may be designed as one single controller on the basis for an integrated circuit (IC) or an field programmable gate array (FPGA). Furthermore, the design of the controller circuitry 15 may be adapted to the level of functional integration of the drivers of the involved actuators - here the magnetic planar motor arrangement 19, the z-axis motor and the extruder. The most basic requirement for the controller circuitry 15 may be seen to be that it receives information related the three-dimensional object to be formed, e.g. 3D geometrical information in the form of a STL-file or a STEP -file, and provides the control signals SI, S2, S3 on that basis which are used to control the operation of the actuators involved in the additive manufacturing process.

That is, the first control signal SI is provided to the stator magnetic planar motor arrangement 19 for generating and controlling the magnetic field in order to control the position of the magnetically levitated print bed 12 with respect to the two-dimensional motion plane above the surface of the stator 13. In further embodiments of the machine 1 according to the invention, additional degrees of motion can be implemented, such that in addition to translational movement, the controller circuitry 15 may be configured to control rotational movement of the magnetically levitated print bed 12 by means of the first control signal SI. In this context, rotational movement of the print bed 12 refers to rotational movement thereof in any of the three-axes of the coordinate system 18 and includes pitch, yaw, and roll. The first control signal SI generated by second unit 17 may include machine instructions, which are provided to the magnetic planar motor arrangement 19 for control of various parameters (e.g. strength, shape) of the magnetic field(s), causing the levitated print bed 12 to move along a predetermined trajectory above the surface of the stator 13.

The second control signal S2 is provided to the extruder 10 for controlling the extrusion process of the extrusion/print material through the nozzle onto the print bed 12. The controller circuitry 15 - the second unit 17, for example - is coupled to the extruder 10 and is configured to control ejection of print material onto the levitated print bed 12 by providing the second control signal S2 based on the second set of information to the extruder 10. The second control signal S2 comprises at least one extrusion parameter from a group of extrusion parameters for controlling the ejection of print material, such as rate of filament flow, print material filament length, nozzle temperature, material temperature etc. The second control signal S2 generated by second unit 17 is based on instructions received from the first unit 16. The second control signal S2 includes machine instructions, G-code, for example, which are provided to the extruder 10 for control of the various extrusion parameters during the manufacturing process.

The third control signal S3 is provided to the motor 11 for controlling the vertical position (i.e. the position along the z-axis of the coordinate system 18) of the extruder 10, in particular the nozzle (not explicitly shown in Fig. 1). The third control signal S3 includes machine instructions, G-code, for example, which may only define the vertical position of the extruder 10. Each of the control signals S 1-S3 may be output at an individual output port of the second unit 17.

The use of a magnetically levitated print bed 12 in combination with the planar magnetic motor arrangement 13 provides a basis for many advantages. It allows for integration of manufacturing and transport into one comprehensive system. That is, since the print bed 12 is a freely moving part and not fixedly attached to the frame set 14of the machine 1, as is the case in common additive manufacturing machines, it may be moved in and out of the region where extrusion material is extruded thereon by the nozzle of the extruder 10. In particular, the 3D printed workpiece does not have to be manually detached to unload the machine 1. Therefore, by decoupling of the print bed 12 from the frame of the machine 1, the print bed 12 may serve as a general-purpose transport platform and the machine 1 may correspond to one manufacturing stage in a chain of different manufacturing steps, which are all linked together by a common stator 14. With an appropriately configured stator 13, this allows for a seamless coupling of different manufacturing steps (e.g. painting, 3D printing, spraying etc.) in a single process chain. Furthermore, the machine 1 according to various embodiments allows for a high flexibility in terms of quality control, as it is possible to inspect the 3D printed product on the highly and easily mobile print bed 12 at various quality control stations and practically any time during the manufacturing process. It is also possible to use several print beds 12 on the print bed and extrude material on those in succession. This may be particularly useful when the print material needs some time to consolidate or cool off after a layer has been printed, for example. The cooling or resting time may be then used to extrude material on another print bed which may be brought into the operation field of the extruder 10. When needed, two or more extruders 12 may be used, driven by one common motor 11 or by individual motors 11, when different materials are involved in the additive manufacturing process.

In an exemplary scenario, the machine may include 1 two extruders 10 and three print beds 12, wherein the first extruder is loaded with material A and the second extruder is loaded with material B and where material B needs one cycle to cool off before the consecutive layer can be printed thereon. Let us assume that the product to be manufactured is a stacked sequence of alternating layers of material A and material B, starting with material A. Accordingly, in a first manufacturing cycle material A may be extruded on the first print bed. The second and third print beds are idle during the first manufacturing cycle. In a second manufacturing cycle, material B may be extruded on the first print bed, material A may be extruded on the second print bed. The third print bed is idle during the second manufacturing cycle. In a third manufacturing cycle, material B may be extruded on the second print bed, material A may be extruded on the third print bed, while the layer of material B on the first print bed may rest to cool off. As can be seen, idle times for the print beds cease in this third manufacturing cycle, since from then on each print bed is in an “active state” - two print beds receive extruded material and one print bed is subject to a resting/cool off cycle. Proceeding to the next fourth manufacturing cycle, the print beds may be rotated, as explained, and the manufacturing of the products may be continued in a very efficient manner, where idle times for the print beds and the extruders are avoided.

Furthermore, moving the print bed 12 by magnetic fields in a levitated state may enable high velocity printing, as the extruder unit is stationary in the sense that it only needs to be moved stepwise along the vertical z-axis. The levitated print bed 12 may be moved on the surface of the stator 13 with high precision and at high velocities/accelerations. Two factors may be seen to play an important role here, one being that the print bed 12 and the (partially) manufactured 3D object may be assumed to have a smaller mass than the relatively heavy extruder 10 and motor 11 and thus have a smaller inertia. The second factor may be that the magnetic planar motor arrangement 19 may generate strong magnetic fields to move the print bed 12 in the motion plane which may be switched and/or altered on very short time scales.

Movement of the levitated print bed 12 in the xy-plane on the surface of the stator 13 has the further advantage that it takes place without friction and without moving mechanical parts such that there is practically no wear. This, for one, translates into longevity of the magnetic levitation and translation system 19. For another, since friction usually results in particle emission from the parts which mechanically engage with one another, that friction-induced particle emission is drastically reduced in the present machine 1 since at least the lateral movement of the levitated print bed 12 on the surface of the stator 13 takes place without friction. Such a clean manufacturing may be required for the manufacture of medical devices, in particular implants and other devices which are implanted into or come in close contact for prolonged periods of time with the human body.

Furthermore, the inventive principle allows for new possibilities for scaling up additive manufacturing processes. For one, a scaled up system which may comprise a first number of extruders, each one translated vertically by an individual z-axis actuator, and a single magnetic planar motor arrangement 19, on which a second number of magnetically levitated print beds 12 are moved, will require less space, since the single magnetic planar motor arrangement 19 obviates the necessity of providing a second number of individual gantry systems in order to move the second number of magnetically levitated print beds 12. In this scenario, the second number may be equal to or larger than the first number, which might be especially the case if during the additive manufacturing process a resting period is required for a given product in the making (e.g. in order for the printed structure to solidify or cool off). For another, since a number of magnetically levitated print beds 12 are moved on the same surface, each of those may be associated, at least temporarily, with the additive manufacturing process performed by a respective extruder. This means that a scaled up system may not only be used to manufacture several objects in parallel, wherein it is possible to react to the manufacturing process at each extruder individually, but also to implement a multi-material manufacturing process, in which the magnetically levitated print beds 12 may be swapped between the individual extruders 12 in accordance with the succession of the different manufacturing materials to be deposited.

The controller circuitry 15 of the machine 1 is configured to receive information related to the three- dimensional object to be formed to generate the first control signal SI for controlling the magnetic planar motor arrangement 19 based at least on a first set of information obtained from the received information, and to generate a second control signal S2 for controlling the extruder 12 based at least on the second set of information obtained from the received information. For that purpose, the first unit 16 of the controller circuitry 15 may be further configured to extract the first set of information for generating the first control signal S 1 from the received information, and to extract the second set of information for generating the second control signal S2 from the received information. In analogy, the first unit 16 may be also configured to generate a third control signal S3 based on a third set of information obtained from the received information for controlling the motor 11 controlling position and/or movement of the extruder 10 along the vertical axis z (up and down) of the coordinate system 18. The first, second and third set of information may be computer numerical control (CNC) code instructions, wherein those CNC code instructions may comprise G-Code instructions. The first control signal SI, which may be seen to correspond to the xy-plane (within the coordinate system 18 shown in Fig. 1) signal, may be generated on the basis of CNC code instructions which are normally provided to conventional motors (such as the motor 11) which move the extruder in x- and y-direction in conventional additive manufacturing machines. In general, depending on the configuration of the controller circuitry, the splitting or, depending on the viewpoint, extracting of translation signals, i.e. x- and y-translation signals on the one hand and z-translation signals on the other hand, may take place in the first unit 16 or in the second unit 17. In the case of the third control signal S3, the controller circuitry 15, for example the second unit 17, may be configured to translate the z-translation signal into corresponding rotation values motor controlling z-axis movement of the extruder 10.

The magnetic planar motor arrangement 19 may include an internal logic board which converts the x,y-coordinates received from the controller circuitry 15 into a set of control signals to activate, in a predetermined manner (e.g. in a predetermined sequence), a set of magnets provided under the surface of the stator 13 to ultimately generate magnetic field changes which lead to movement of the magnetically levitated print bed 12. Ultimately, the print bed 12 moves along predetermined guideways to its intended positions.

The received information related to the three-dimensional object to be formed may include geometrical information related to at least one layer to be formed by the ejection of print material by the extruder. That information may include computer numerical control (CNC) code instructions, computer aided drawing (CAD) instructions, and/or computer aided manufacturing (CAM) instructions. During the manufacturing process by the machine 1, a plurality of two-dimensional model layers is arranged successively one on top of the other. The shape of any of the two- dimensional layers may be described/defined based on a first axis (e.g. x-axis) and second axis (e.g. y- axis) of the coordinate system 18, which is a Cartesian coordinate system in the shown example.

Once provided with instructions, the machine 1 is configured to form a plurality of two-dimensional layers arranged one on top of the other along the z-axis of coordinate system 18 to form the three- dimensional object. In order to form each respective two-dimensional layer of the plurality of two- dimensional layers, the controller circuitry 15 is configured to control the movement of the levitated print bed 12 according to information related to a respective two-dimensional layer, and to control the ejection of print material from the nozzle of the extruder 10 to form the respective two-dimensional layer.

In accordance with the present invention a controller or control circuitry 15 for the additive manufacturing machine 1 is also provided. The controller 15 includes a processing unit having a first output and a second output, wherein the processing unit may correspond to the second unit 17. As illustrated in Fig. 1, the processing unit 17 is configured to provide a first control signal SI based on a first set of information for controlling movement, in at least one axis (e.g. x-axis or y-axis of the coordinate system 8) of the levitated print bed and a second control signal S2 based on a second set of information for controlling an ejection of print material by the extruder 10 of the additive manufacturing machine 1. Generally, the controller 15 may be configured to receive instructions to control the additive manufacturing machine to form a three-dimensional object. Thus, the controller 15 may be configured to control at least translational and/or rotational movement of the magnetically levitated print bed 12.

Fig. 2 shows a flow chart 20 illustrating a method for forming a three-dimensional object by an additive manufacturing machine of the present invention which has been described with reference to Fig. 1.

The method includes a first step 21 of controlling movement, in at least one axis, of a levitated print bed of the additive manufacturing machine based on a first set of information, wherein the first set of information is based on information related the three-dimensional object to be formed. The method includes a further step 22 of controlling an ejection of print material by an extruder of the additive manufacturing machine based on a second set of information, wherein the print material is ejected onto the print bed to form at least one layer of the three-dimensional object during the controlled movement of the print bed.

In a further embodiment of the invention, the method may include receiving, by the controller circuitry, the information related to the three-dimensional object to be formed, then generating, by controller circuitry, a first control signal for controlling a magnetic planar motor arrangement based at least on the first set of information obtained from the received information, and in parallel or thereafter, generating, also by the controller circuitry, a second control signal for controlling an extruder of an additive manufacturing machine based at least on the second set of information obtained from the received information. The method may further include extracting, by the controller circuitry, the first set of information for generating the first control signal from the received information, and, in a similar manner, extracting the second set of information for generating the second control signal from the received information. The method may also comprise generating, by the controller circuitry, the third control signal based on a third set of information obtained from the received information, the third control signal serving for controlling a motor controlling position and/or movement of the extruder with respect to at least one further axis.

In further embodiments of the present invention, a method for forming three-dimensional objects by an additive manufacturing machine comprising multiple extruders is provided, wherein the machine allows for parallel manufacturing of multiple 3D objects, each one positioned on an individual print bed. The method includes controlling movement, in at least one axis, of each one of the levitated print beds of the additive manufacturing machine, wherein controlling the movement of each levitated print bed is on a corresponding first set of information, wherein the first set of information is based on information related the respective three-dimensional object to be formed. The method further includes controlling an ejection of material by each of the extruders of the additive manufacturing machine based on a second set of information, wherein the material is ejected onto the respective print bed to form at least one layer of the three-dimensional object during the controlled movement of the corresponding print bed. Further embodiments of the method for forming three-dimensional objects by the additive manufacturing machine comprising multiple extruders may be based on embodiments of the method described in beforehand with reference to the method for forming a three-dimensional object by an additive manufacturing machine comprising one extruder.

In further embodiments of the present invention and in view of the aforementioned method for forming three-dimensional objects, a corresponding additive manufacturing device is provided. The additive manufacturing machine having multiple extruders for forming multiple three-dimensional objects comprises: multiple levitated print beds, each of them being movable in at least one axis, the multiple extruders for ejecting material onto the print beds to form at least one layer of the respective three-dimensional object; and a controller circuitry configured to control movement of each of the print beds based on a first set of information, wherein the first set of information is based on information related to the respective three-dimensional object to be formed.

The levitated print beds may be moved by a magnetic planar motor arrangement on the surface thereof. In that sense, the magnetic planar motor arrangement may be a shared device.

Further embodiments of the additive manufacturing machine with multiple extruders for forming three-dimensional objects by the additive manufacturing machine may be based on embodiments of the device described in beforehand with reference to the additive manufacturing machine for forming a three-dimensional object by an additive manufacturing machine comprising one extruder only.

The aforementioned method for forming a three-dimensional object by an additive manufacturing machine comprising a first number of material ejection units and a second number of levitated print beds which are movable on a magnetic planar motor arrangement may correspond to a method which is based on a a multi-station printing additive manufacturing machine. That is, multiple magnetic print beds may be used for the manufacture of a three-dimensional object. The manufacturing process at each material ejection unit may be controlled individually, such that a variety of embodiments are possible.

In one example, each material ejection unit may be controlled to print the same three-dimensional object, wherein all material ejection units may print in synchronicity or out of sync. In the latter case, at one given timepoint the different material ejection units may be at different stages of printing the desired three-dimensional object. This may be the case if the starting point of the printing process at the material ejection units is not synchronized throughout the different material ejection units.

In another example, since each one of the material ejection units may be controlled individually, each material ejection unit may print a different three-dimensional object at its own pace. For example, each material ejection unit may print a similar implant which differs from one material ejection unit to the other to accommodate for patient-specific modifications. Due to the modifications, each material ejection unit may receive individual manufacturing instructions such that the manufacturing process at each material ejection units may not be in synchronicity a manufacturing process at any other material ejection unit.

The method for forming a three-dimensional object may be configured such that each magnetic print bed is associated, at least temporarily, with an additive manufacturing process performed by a respective material ejection unit. The additive manufacturing process may take place at one single material ejection unit, or it may be distributed over more than one material ejection unit (i.e. over two, three, four, five or more material ejection units). For example, one material ejection unit may be configured to manufacture material strands above a certain dimension (e.g. thickness) and/or may to run the manufacturing process based on a first material while another material ejection unit may be configured to manufacture material strands below a certain dimension (e.g. thickness) and/or to run the manufacturing process based on a second material. The magnetic print beds may be sequentially associated with different material ejection units during the manufacturing process.

Resting periods may be introduced at any stage of an additive manufacturing process with which a magnetic print bed is associated with. During a resting period, a three-dimensional object in the making may cool of, for example. Resting periods may occur naturally if the second number is larger than the first number. In that manner, the workload at each of the material ejection units may be maximized, despite possibly required resting periods for a three-dimensional object being manufactured on a respective magnetic printing bed.

The invention is further characterized by the following items.

Item 1 : Method for forming a three-dimensional object by an additive manufacturing machine, the method comprising: controlling movement, in at least one axis, of a levitated print bed of the additive manufacturing machine based on a first set of information, wherein the first set of information is based on information related the three-dimensional object to be formed; and controlling an ejection of material by an extruder of the additive manufacturing machine based on a second set of information, wherein the material is ejected onto the print bed to form at least one layer of the three-dimensional object during the controlled movement of the print bed.

Item 2: Method of item 1, wherein the levitated print bed is a magnetically levitated print bed.

Item 3 : Method of any one of the preceding items, wherein controlling movement of the levitated print bed comprises providing, by controller circuitry, a first control signal based on the first set of information to a magnetic planar motor arrangement.

Item 4: Method of item 3, wherein levitation and movement of the print bed above a surface of a stator module of the magnetic planar motor arrangement is supported by one or more magnetic fields generated by the stator module based on the first control signal.

Item 5: Method of items 3 or 4, wherein the first control signal controls a movement of the magnetically levitated print bed with respect to a two-dimensional plane above the surface of the stator module.

Item 6: Method of any one of items 3 to 5, wherein the first control signal controls at least translational and/or rotational movement of the magnetically levitated print bed.

Item 7: Method of any one of the preceding items, wherein controlling the ejection of material onto the levitated print bed comprises providing, by controller circuitry, a second control signal based on the second set of information to the extruder.

Item 8: The method according to item 7, wherein the second control signal comprises at least one extrusion parameter from a group of extrusions parameters for controlling the ejection of material, the group of extrusion parameters comprising: rate of filament flow, material filament length.

Item 9: Method of any one of the preceding items, further comprising providing, by controller circuitry, a third control signal based on a third set of information to a motor for controlling a position and/or movement of the extruder with respect at least one further axis.

Item 10: Method of any of the preceding items, further comprising: receiving, by controller circuitry, the information related to the three-dimensional object to be formed; and generating, by controller circuitry, a first control signal for controlling a magnetic planar motor arrangement based at least on the first set of information obtained from the received information; and generating, by controller circuitry, a second control signal for controlling an extruder of an additive manufacturing machine based at least on the second set of information obtained from the received information.

Item 11 : Method according to item 10, further comprising: extracting, by controller circuitry, the first set of information for generating the first control signal from the received information; and extracting, by controller circuitry, the second set of information for generating the second control signal from the received information.

Item 12: Method of any one of the preceding items, wherein the information related to the three- dimensional object to be formed comprises geometrical information related to at least one layer to be formed by the ejection of material by the extruder.

Item 13: Method of any one of the preceding items, wherein the information related to the three- dimensional object to be formed comprises information related to a plurality of two-dimensional model layers of a model of the three-dimensional object to be formed, wherein the plurality of two- dimensional model layers is arranged successively with respect to at least one further axis.

Item 14: Method of any one of the preceding items, comprising: forming a plurality of two-dimensional layers arranged successively with respect to at least one further axis to form the three-dimensional object, wherein each two-dimensional layer of the plurality of two-dimensional layers is formed successively in accordance with its position with respect to the at least one further axis.

Item 15: Method of item 14, wherein forming each respective two-dimensional layer of the plurality of two-dimensional layers comprises: controlling the movement of the levitated print bed according to information related to a respective two-dimensional layer, and controlling the ejection of material to form the respective two-dimensional layer.

Item 16: Method of any one of the preceding items, wherein controlling the movement of the levitated print bed and controlling the ejection of material is performed by a CNC controller.

Item 17: Method of any one of the preceding items, wherein the first set of information and the second set of information are computer numerical control (CNC) code instructions, wherein the CNC code instructions comprise G-Code instructions. Item 18: Method of any one of the preceding items, wherein the information related to forming the three-dimensional object comprises at least one of: computer numerical control code instructions, computer aided drawing (CAD) instructions, and computer aided manufacturing (CAM) instructions.

Item 19: Method of any one of the preceding items, wherein the additive manufacturing machine comprises a 3D-printer, a 4D-printer, a 5D-printer or a 6D-printer.

Item 20: Additive manufacturing machine for forming a three-dimensional object, comprising: a levitated print bed, which is movable in at least one axis; an extruder for ejecting material onto the print bed to form at least one layer of the three-dimensional object; controller circuitry configured to control movement of the print bed based on a first set of information, wherein the first set of information is based on information related to the three-dimensional object to be formed.

Item 21 : Additive manufacturing machine of item 20, wherein the controller circuitry provided in the additive manufacturing machine is configured to control ejection of the material by the extruder based on a second set of information during the controlled movement of the print bed.

Item 22: Additive manufacturing machine of any one the preceding items, wherein the levitated print bed is a magnetically levitated print bed.

Item 23 : Additive manufacturing machine of any one of the preceding items, further comprising: a magnetic planar motor arrangement; wherein the controller circuitry is coupled to the magnetic planar motor arrangement to control movement of the levitated print bed by providing a first control signal based on the first set of information to the magnetic planar motor arrangement, preferably to a stator module thereof.

Item 24: Additive manufacturing machine of item 23, wherein levitation and movement of the print bed above a surface of a stator module of the magnetic planar motor arrangement are supported by one or more magnetic fields generated by the stator module based on the first control signal.

Item 25: Additive manufacturing machine item 23 or 24, wherein the first control signal controls a movement of the magnetically levitated print bed with respect to a two-dimensional plane above the surface of the stator module.

Item 26: Additive manufacturing machine of any one of the preceding items 23 to 25, wherein the controller circuitry is configured to control at least translational and/or rotational movement of the magnetically levitated print bed by means of the first control signal. Item 27 : Additive manufacturing machine of any one of the preceding items, wherein the controller circuitry is coupled to the extruder and is configured to control the ejection of material onto the levitated print bed by providing, by the controller circuitry, a second control signal based on the second set of information to the extruder.

Item 28: Additive manufacturing machine of item 27, wherein the second control signal comprises at least one extrusion parameter from a group of extrusions parameters for controlling the ejection of material, the group of extrusion parameters comprising: rate of filament flow, material filament length.

Item 29: Additive manufacturing machine of any one of the preceding items, further comprising: a motor for controlling a position and/or movement of the extruder with respect at least one further axis; wherein the controller circuitry is configured to provide a third control signal based on a third set of information to the motor.

Item 30: Additive manufacturing machine of any one of the preceding items, wherein the controller circuitry is configured to receive the information related to the three-dimensional object to be formed; generate, by the controller circuitry, a first control signal for controlling a magnetic planar motor arrangement based at least on the first set of information obtained from the received information; and generate, by the controller circuitry, a second control signal for controlling the extruder based at least on the second set of information obtained from the received information.

Item 31: Additive manufacturing machine of item 30, wherein the controller circuitry is further configured to extract the first set of information for generating the first control signal from the received information; and extract the second set of information for generating the second control signal from the received information.

Item 32: Additive manufacturing machine of any one of the preceding items, wherein the information related to the three-dimensional object to be formed comprises information related to a plurality of two-dimensional model layers of a model of the three-dimensional object to be formed, wherein the plurality of two-dimensional model layers are arranged successively with respect to at least one further axis.

Item 33: Additive manufacturing machine of any one of the preceding items, wherein the machine is configured to: form a plurality of two-dimensional layers arranged successively with respect to at least one further axis to form the three-dimensional object; wherein each two-dimensional layer of the plurality of two-dimensional layers is formed successively in accordance with its position with respect to the at least one further axis.

Item 34: Additive manufacturing machine of item 33, wherein in order to form each respective two- dimensional layer of the plurality of two-dimensional layers the controller circuitry is configured to: control the movement of the levitated print bed according to information related to a respective two- dimensional layer, and control the ejection of material to form the respective two-dimensional layer.

Item 35: Additive manufacturing machine of any one of the preceding items, wherein the controller circuitry for controlling the movement of the levitated print bed and for controlling the ejection of material comprises a CNC controller.

Item 36: Additive manufacturing machine of any one of the preceding items, wherein the first set of information and the second set of information are computer numerical control (CNC) code instructions, wherein the CNC code instructions comprise G-Code instructions.

Item 37: Additive manufacturing machine of any one of the preceding items, wherein the information related to forming the three-dimensional object comprises at least one of: computer numerical control code instructions, computer aided drawing (CAD) instructions, and computer aided manufacturing (CAM) instructions.

Item 38: Additive manufacturing machine of any one of the preceding items, wherein the additive manufacturing machine comprises a 3D-printer, a 4D-printer, a 5D-printer or a 6D-printer.

Item 39: Controller for an additive manufacturing machine, comprising: a processing unit having a first output and a second output; wherein the processing unit is configured to provide a first control signal based on a first set of information for controlling movement, in at least one axis, of a levitated print bed of the additive manufacturing machine and a second control signal based on a second set of information for controlling an ejection of material by an extruder of the additive manufacturing machine.

Item 40: Controller of item 39, wherein the first set of information is based on information related to the three-dimensional object to be formed.

Item 41 : Controller of any one of the preceding items, further configured to receive instructions to control the additive manufacturing machine to form a three-dimensional object. Item 42: Controller of any one of the preceding items, further configured to control at least translational and/or rotational movement of the magnetically levitated print bed.

Item 43: Controller of any one of the preceding items, wherein the second control signal comprises at least one extrusion parameter from a group of extrusions parameters for controlling the ejection of material, the group of extrusion parameters comprising: rate of filament flow, material filament length.

Item 44: Controller of any one of the preceding items, further configured to provide a third control signal based on a third set of information for controlling a position and/or movement of the extruder with respect at least one further axis.

Item 45: Controller of any one of the preceding items, as long as dependent on item 40, further configured to: receive the information related to the three-dimensional object to be formed; and generate the first control signal for controlling a magnetic planar motor arrangement based at least on the first set of information obtained from the received information; and to generate the second control signal for controlling an extruder of the additive manufacturing machine based at least on the second set of information obtained from the received information.

Item 46: Controller of item 45, further configured to: extract the first set of information for generating the first control signal from the received information; and extract the second set of information for generating the second control signal from the received information.

Item 47: Controller of any one of the preceding items, wherein the information related to the three- dimensional object to be formed comprises geometrical information related to at least one layer to be formed by the ejection of material by the extruder.

Item 48: Controller of any one of the preceding items, configured to control the additive manufacturing machine to form successive two-dimensional layers of the three-dimensional object by: controlling the movement of the levitated print bed according to information related to a respective two-dimensional layer, and controlling the ejection of material to form the respective two-dimensional layer.

Item 49: Controller of any one of the preceding items, which is configured as a CNC controller.

Item 50: Controller of any one of the preceding items, wherein the first set of information and the second set of information comprise computer numerical control (CNC) code instructions, wherein the CNC code instructions comprise G-Code instructions. Item 51 : Controller of any one of the preceding items, wherein the information related to forming the three-dimensional object comprises at least one of: computer numerical control code instructions, computer aided drawing (CAD) instructions, and computer aided manufacturing (CAM) instructions.

Claims

1. Method for forming a three-dimensional object by an additive manufacturing machine comprising a first number of material ejection units and a second number of levitated print beds which are movable on a magnetic planar motor arrangement, the method comprising: controlling a position and/or movement of each of the levitated print beds of the additive manufacturing machine in a two-dimensional motion plane by means of a first mechanism comprising the magnetic planar motor arrangement, based on a first set of information, wherein the first set of information is based on information related the three-dimensional object to be formed; controlling a position and/or movement of each of the material ejection units along an axis relative to the two-dimensional motion plane by means of an individual second mechanism; and controlling an ejection of material by each of the material ejection units based on a second set of information, wherein the material is ejected onto the print bed to form at least one layer of the three- dimensional object during the controlled movement of the print beds.

2. Method of claim 1, wherein each magnetic print bed is associated, at least temporarily, with an additive manufacturing process performed by a respective material ejection unit.

3. Method oy any one of the preceding claims, wherein the method for forming the three-dimensional object is a multi-material manufacturing process, further comprising: swapping the levitated print beds between the individual material ejection units in accordance with the succession of different materials to be deposited.

4. Method of any one of the preceding claims, wherein the second number is equal to the first number.

5. Method of any one of claims 1-4, wherein the second number is larger than the first number.

6. Method of claim 5, further comprising: providing a resting period during the manufacturing process to an object being formed on a respective levitated print bed.

7. Method of any one of the preceding claims, wherein controlling movement of any one of the levitated print beds comprises providing, by controller circuitry, a first control signal based on the first set of information to the magnetic planar motor arrangement; wherein optionally levitation and movement of the print bed above a surface of a stator module of the magnetic planar motor arrangement is supported by one or more magnetic fields generated by the stator module based on the first control signal; and wherein further optionally the first control signal controls a movement of the magnetically levitated print beds with respect to a two-dimensional plane above the surface of the stator module.

8. Method of any one of the preceding claims, wherein controlling the ejection of material onto any one of the levitated print beds comprises providing, by controller circuitry, a second control signal based on the second set of information to the corresponding material ejection unit; wherein optionally the second control signal comprises at least one extrusion parameter from a group of extrusions parameters for controlling the ejection of material, the group of extrusion parameters comprising: rate of filament flow, material filament length.

9. Method of any one of the preceding claims, further comprising: providing, by controller circuitry, a third control signal based on a third set of information to motors for controlling a position and/or movement of the respective material ejection unit with respect at least one further axis; the method optionally comprising: receiving, by controller circuitry, the information related to the three-dimensional object to be formed; and generating, by controller circuitry, a first control signal for controlling the magnetic planar motor arrangement based at least on the first set of information obtained from the received information; and generating, by controller circuitry, a second control signal for controlling the respective material ejection unit of the additive manufacturing machine based at least on the second set of information obtained from the received information; the method optionally further comprising: extracting, by controller circuitry, the first set of information for generating the first control signal from the received information; and extracting, by controller circuitry, the second set of information for generating the second control signal from the received information.

10. Method of any one of the preceding claims, wherein the information related to the three-dimensional object to be formed comprises geometrical information related to at least one layer to be formed by the ejection of material by the respective material ejection unit; wherein the information related to the three-dimensional object to be formed optionally comprises information related to a plurality of two-dimensional model layers of a model of the three-dimensional object to be formed, wherein the plurality of two-dimensional model layers is arranged successively with respect to at least one further axis; the method optionally further comprising: forming a plurality of two-dimensional layers arranged successively with respect to the axis to form the three-dimensional object, wherein each two-dimensional layer of the plurality of two-dimensional layers is formed successively in accordance with its position with respect to the axis.

11. Additive manufacturing machine for forming a three-dimensional object, comprising: a magnetic planar motor arrangement; a first number of levitated print beds, which are movable on the magnetic planar motor arrangement; a second number of material ejection units for ejecting material onto the print beds to form at least one layer of the three-dimensional object on the respective levitated print bed; controller circuitry configured to control movement of the print beds based on a first set of information, wherein the first set of information is based on information related to the three- dimensional object to be formed on the respective levitated print bed.

12. Additive manufacturing machine of claim 11, wherein the controller circuitry provided in the additive manufacturing machine is configured to control ejection of the material by the material ejection units based on a second set of information during the controlled movement of the levitated print beds; wherein the controller circuitry is coupled to the magnetic planar motor arrangement to control movement of the levitated print beds by providing a first control signal based on the first set of information to the magnetic planar motor arrangement, preferably to a stator module thereof.

13. Additive manufacturing machine of claim 12, wherein levitation and movement of the print beds above a surface of a stator module of the magnetic planar motor arrangement are supported by one or more magnetic fields generated by the stator module based on the first control signal; wherein optionally the first control signal controls a movement of the magnetically levitated print beds with respect to a two-dimensional plane above the surface of the stator module; and wherein further optionally the controller circuitry is configured to control at least translational and/or rotational movement of the magnetically levitated print beds by means of the first control signal.

14. Additive manufacturing machine of any one of the preceding claims, wherein the controller circuitry is coupled to the material ejection units and is configured to control the ejection of material onto the levitated print beds by providing, by the controller circuitry, a second control signal based on the second set of information to the material ejection units; wherein optionally the second control signal comprises at least one extrusion parameter from a group of extrusions parameters for controlling the ejection of material, the group of extrusion parameters comprising: rate of filament flow, material filament length; the machine further comprising: a first number of motors for controlling a position and/or movement of the material ejection units with respect to an axis relative to a two-dimensional motion plane of the levitated print beds; wherein the controller circuitry is configured to provide a third control signal based on a third set of information to the motors.

15. Additive manufacturing machine of claim 14, wherein the controller circuitry is configured to receive the information related to the three-dimensional object to be formed on a respective levitated print bed; generate, by the controller circuitry, a first control signal for controlling a magnetic planar motor arrangement based at least on the first set of information obtained from the received information; and generate, by the controller circuitry, a second control signal for controlling the corresponding material ejection unit based at least on the second set of information obtained from the received information; wherein the controller circuitry is optionally configured to extract the first set of information for generating the first control signal from the received information; and extract the second set of information for generating the second control signal from the received information.

16. Additive manufacturing machine of any one of the preceding claims, wherein the information related to the three-dimensional object to be formed on the levitated print beds comprises information related to a plurality of two-dimensional model layers of a model of the three-dimensional object to be formed, wherein the plurality of two-dimensional model layers are arranged successively with respect to the axis; wherein optionally the additive manufacturing machine is configured to: form a plurality of two-dimensional layers arranged successively with respect to the axis to form the three-dimensional object on the respective levitated print bed; wherein each two-dimensional layer of the plurality of two-dimensional layers is formed successively in accordance with its position with respect to the axis.

17. Additive manufacturing machine of any one of preceding claims, wherein in order to form each respective two-dimensional layer of the plurality of two-dimensional layers the controller circuitry is configured to: control the movement of any one of the levitated print beds according to information related to a respective two-dimensional layer to be formed thereon, and control the ejection of material to form the respective two-dimensional layer on the respective levitated print bed; wherein optionally the controller circuitry for controlling the movement of the levitated print bed and for controlling the ejection of material comprises a CNC controller; and wherein further optionally the first set of information and the second set of information are computer numerical control (CNC) code instructions, wherein the CNC code instructions comprise G- Code instructions.

18. Controller for an additive manufacturing machine a first number of material ejection units and a second number of levitated print beds which are movable on a magnetic planar motor arrangement, the controller comprising: a processing unit having a first output and a second output; wherein the processing unit is configured to provide a first control signal based on a first set of information for controlling movement of the levitated print beds of the additive manufacturing machine in a two-dimensional motion plane and a second control signal based on a second set of information for controlling an ejection of material by the respective material ejection unit of the additive manufacturing machine.

19. Controller of claim 18, wherein the first set of information is based on information related to the three-dimensional object to be formed on a respective levitated print bed; the controller being optionally configured to receive instructions to control the material ejection units of the additive manufacturing machine to form three-dimensional objects; the controller being optionally further configured to control at least translational and/or rotational movement of the magnetically levitated print beds; and wherein further optionally the second control signal comprises at least one extrusion parameter from a group of extrusions parameters for controlling the ejection of material of a respective material ejection unit, the group of extrusion parameters comprising: rate of filament flow, material filament length.