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Desarrollo de un algoritmo óptimo para la planeación de trayectorias en manufactura aditiva
dc.contributor.advisor | Mauledoux Monroy, Mauricio Felipe | |
dc.contributor.advisor | Avilés Sánchez, Oscar Fernando | |
dc.contributor.author | Guachetá Alba, Juan Camilo | |
dc.date.accessioned | 2022-03-01T17:42:54Z | |
dc.date.available | 2022-03-01T17:42:54Z | |
dc.date.issued | 2021-12-09 | |
dc.identifier.uri | http://hdl.handle.net/10654/40268 | |
dc.description.abstract | El presente trabajo presenta el desarrollo y resultados de la tesis de grado para optar por el título de Máster en Ingeniería Mecatrónica de la Universidad Militar Nueva Granada, titulada “Desarrollo de un algoritmo óptimo para la planeación de trayectorias en manufactura aditiva”. En este se expone el estudio de las técnicas de planeación de trayectoria utilizadas para la deposición de material, así como los retos y beneficios que estas presentan, partiendo desde el planteamiento y justificación de la problemática a resolver, hasta la definición de la metodología utilizada para la implementación del algoritmo. La planeación de trayectorias está enfocada en movimientos de seis grados de libertad, los cuales son efectuados por una plataforma Hunt diseñada por el grupo de investigaciones Davinci. Como enfoque inicial, se desarrollan dos sistemas de discretización de capas sobre la pieza a imprimir. El primero de ellos imita la discretización convencional para impresión 3D, obteniendo contornos por un barrido en el eje ‘z’. El segundo sistema de discretización obtiene las superficies inferiores y superiores de la pieza las cuales, mediante técnicas de propagación, aplanamiento geodésico directo y aplanamiento inverso, realiza la transformación de espacios curvos a contornos planos y viceversa. Posteriormente, se expone el diseño del algoritmo de planeación de trayectorias en una capa, basado en curvas de Hilbert y contornos paralelos, el cual genera una curva cíclica y continua sobre un contorno de impresión. Estas trayectorias por capa son conectadas por conexiones en ubicaciones cercanas en el espacio, generando una trayectoria de impresión continua. Se plantea el problema de optimización multiobjetivo con cinco variables de decisión que modifican la distancia de los patrones, el suavizado y el proceso de discretización, así como nueve métricas a evaluar sobre las trayectorias, enfocadas al consumo de motores, precisión de movimientos, calidad superficial, tiempo de impresión y material utilizado. Este problema es solucionado por algoritmo NSGA-II, y la selección de la trayectoria estará fijada por el enfoque LINMAP. Finalmente, sobre una galería de piezas, se implementa el algoritmo de optimización de trayectoria, y se compara su desempeño frente a trayectorias generadas por un software comercial libre. | spa |
dc.description.tableofcontents | Lista de figuras iv Lista de tablas viii Lista de algoritmos ix Resumen x Abstract xi Capítulo 1 Introducción 1 1.1 Planteamiento del problema 1 1.2 Estado del arte 2 1.2.1 Planificación de trayectorias 2 1.2.2 Discretización de superficies 6 1.2.3 Optimización multiobjetivo 8 1.2.4 Plataforma de impresión 9 1.3 Objetivos 13 1.3.1 Objetivo General 13 1.3.2 Objetivos Específicos 13 1.4 Justificación 13 1.5 Marco teórico 14 1.5.1 Manufactura aditiva 14 1.5.2 Mecanismo de cinemática paralela 15 1.5.3 Planificación de trayectorias de herramienta 15 1.5.4 Discretización 15 1.5.5 Patrones de dosificación 15 1.5.6 Optimización de sistemas 16 1.6 Metodología 16 1.6.1 Hipótesis 17 1.6.2 Delimitación y alcance 17 Capítulo 2 Proceso de discretización 18 2.1 Discretización plana 18 2.2 Cálculo de capas para solido con superficie curva. 19 2.3 Aplanamiento de superficie (Flattening) 22 2.3.1 Técnica inversa de aplanamiento 25 Capítulo 3 Trayectorias de impresión 29 3.1 Generación de trayectoria en capa 29 3.1.1 Basadas en curvas de Hilbert 29 3.1.2 Basadas en curvas de Contornos paralelos 31 3.1.3 Suavizado 35 3.2 Conexión de trayectoria capa a capa 36 3.3 Obtención de trayectorias comerciales 39 Capítulo 4 Planteamiento de problema de optimización multiobjetivo 41 4.1 Definición de problema de optimización 41 4.2 Métricas evaluadas sobre trayectorias 42 4.2.1 Llenado 42 4.2.2 Longitud de material depositado y movimientos de viaje 44 4.2.3 Tiempo de maquina 44 4.2.4 Densidad (Error absoluto de volumen recubierto) 45 4.2.5 Energía de señal de control 46 4.2.6 Error cuadrático integral de la señal de error (ISE) 47 4.3 Técnica de optimización multiobjetivo NSGA-II 48 4.4 Toma de decisión – Selección de trayectoria 49 Capítulo 5 Resultados y análisis 51 5.1 Estudio preliminar 51 5.2 Reestructuración de problema de optimización 53 5.3 Caso de estudio 55 5.4 Resultados de optimización 56 5.4.1 Geometría A - Ortoedro. 56 5.4.2 Geometría B - Tetradecaedro. 59 5.4.3 Geometría C - Esfera 61 5.4.4 Geometría D - Pawn 63 5.4.5 Geometría E – Simple Door Knob 64 5.5 Trayectorias y métricas obtenidas 65 5.5.1 Geometría A – Poliedro 65 5.5.2 Geometría B - Tetradecaedro. 68 5.5.3 Geometría C – Esfera 70 5.5.4 Geometría D - Pawn 72 5.5.5 Geometría E - Simple Door Knob 73 5.6 Comparación y análisis 75 Capítulo 6 Conclusiones y recomendaciones 77 6.1 Contribuciones 78 6.2 Trabajo futuro 78 Referencias 79 Anexos 85 A.1. Artículo aceptado para presentación en congreso internacional: Deposition Toolpath Pattern Comparison: Contour-Parallel and Hilbert Curve Application 85 A.2. Artículo publicado en revista indexada: Kinematics Parallel Mechanisms Design Particularities Focused on Additive Manufacturing 86 A.3. Artículo sometido en revista indexada: 3D Printing Part Orientation Optimization: Discrete Approximation of Support Volume 87 A.4. Código MATLAB: Discretización plana de solido 88 A.5. Código MATLAB: Detección de superficie superior o inferior 89 A.6. Código MATLAB: Creación de superficie propagada 89 A.7. Código MATLAB: Discretización curva de solido 90 A.8. Código MATLAB: Aplanamiento geodésico 91 A.9. Código MATLAB: Aplanamiento inverso 91 A.10. Código MATLAB: Cálculo de trayectoria por curvas de Hilbert 91 A.11. Código MATLAB: Generación de contornos paralelos 92 A.12. Código MATLAB: Cálculo de trayectoria por contornos paralelos 94 A.13. Código MATLAB: Suavizado de trayectorias 95 A.14. Código MATLAB: Conexión de trayectorias 96 A.15. Código MATLAB: Obtención de trayectorias comerciales 96 A.16. Código MATLAB: Medición de métricas de llenado 97 A.17. Código MATLAB: Medición de métricas de material y movimientos de viaje 98 A.18. Código MATLAB: Medición de métrica de tiempo de impresión 99 A.19. Código MATLAB: Medición de métrica de error absoluto de volumen recubierto 100 A.20. Código MATLAB: Algoritmo de optimización NSGA-II 100 A.21. Código MATLAB: Toma de decisión LINMAP 102 | spa |
dc.format.mimetype | applicaction/pdf | spa |
dc.language.iso | spa | spa |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.title | Desarrollo de un algoritmo óptimo para la planeación de trayectorias en manufactura aditiva | spa |
dc.rights.accessrights | info:eu-repo/semantics/openAccess | spa |
dc.subject.lemb | ALGORITMOS (COMPUTADORES) | spa |
dc.subject.lemb | CINEMATICA | spa |
dc.subject.lemb | TRAYECTORIA ALEATORIA | spa |
dc.type.local | Tesis/Trabajo de grado - Monografía - Maestría | spa |
dc.description.abstractenglish | This document presents the development and results of the degree thesis to opt for the master's degree in Mechatronics Engineering of Universidad Militar Nueva Granada, entitled "Development of an optimal algorithm for the planning of trajectories in additive manufacturing." The document presents a study of the trajectory planning techniques used for material deposition and the challenges and benefits these present, starting from the approach and justification of the problem to be solved to the definition of the methodology used to implement the algorithm. The trajectory planning is focused on movements of six degrees of freedom, which are conducted by a Hunt platform designed by the Davinci research group. As an initial approach, two discretization systems of layers are developed on the part to be printed. The first imitate conventional discretization for 3D printing, obtaining contours by a sweep on the z-axis. The second discretization system obtains the lower and upper surfaces of the piece, which, through propagation techniques, direct geodetic flattening and reverse flattening, performs the transformation of curved spaces to flat contours and vice versa. Subsequently, the algorithm design for planning trajectories in a layer, based on Hilbert curves and parallel contours, which generates a cyclic and continuous curve on a print contour, is exposed. These trajectories per layer are connected by connections in nearby locations in space, generating a continuous print path. The problem of multi-objective optimization arises with five decision variables that modify the distance of the patterns, the smoothing and the discretization process, as well as nine metrics to be evaluated on the trajectories, focused on the consumption of motors, precision of movements, surface quality, printing time and material used. This problem is solved by NSGA-II algorithm, and the path selection will be fixed by the LINMAP approach. Finally, on a gallery of pieces, the trajectory optimization algorithm is implemented, and its performance is compared against trajectories generated by a free commercial software. | spa |
dc.title.translated | Development of an optimal algorithm for trajectory planning in additive manufacturing | spa |
dc.subject.keywords | Additive Manufacturing | spa |
dc.subject.keywords | Systems Optimization | spa |
dc.subject.keywords | Path Planning | spa |
dc.subject.keywords | Parallel Kinematics Mechanism | spa |
dc.publisher.program | Maestría en Ingeniería Mecatrónica | spa |
dc.creator.degreename | Magíster en Ingeniería Mecatrónica | spa |
dc.description.degreelevel | Maestría | spa |
dc.publisher.faculty | Facultad de Ingeniería | spa |
dc.type.driver | info:eu-repo/semantics/masterThesis | spa |
dc.rights.creativecommons | Attribution-NonCommercial-NoDerivatives 4.0 International | spa |
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dc.subject.proposal | Manufactura aditiva | spa |
dc.subject.proposal | Optimización de sistemas | spa |
dc.subject.proposal | Planificación de trayectorias | spa |
dc.subject.proposal | Mecanismo de cinemática paralela | spa |
dc.publisher.grantor | Universidad Militar Nueva Granada | spa |
dc.type.coar | http://purl.org/coar/resource_type/c_bdcc | * |
dc.type.hasversion | info:eu-repo/semantics/acceptedVersion | spa |
dc.identifier.instname | instname:Universidad Militar Nueva Granada | spa |
dc.identifier.reponame | reponame:Repositorio Institucional Universidad Militar Nueva Granada | spa |
dc.identifier.repourl | repourl:https://repository.unimilitar.edu.co | spa |
dc.rights.local | Acceso abierto | spa |
dc.coverage.sede | Calle 100 | spa |
dc.rights.coar | http://purl.org/coar/access_right/c_abf2 |