Implementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento polimérico
ilustraciones, diagramas, fotografías
- Autores:
-
Ortiz Lambertino, Deisy Valeria
- Tipo de recurso:
- Fecha de publicación:
- 2023
- Institución:
- Universidad Nacional de Colombia
- Repositorio:
- Universidad Nacional de Colombia
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unal.edu.co:unal/84964
- Palabra clave:
- Manufacturas
Tecnología
Manufactures
Technology
Manufactura aditiva
Conformada
No planar
FDM
Impresión 3D
Duet
Additive manufacturing
Conformal
No planar
FDM
Duet
3D Printing
- Rights
- openAccess
- License
- Reconocimiento 4.0 Internacional
| id |
UNACIONAL2_f7a04649aa5a037fcfd41a39b87329bd |
|---|---|
| oai_identifier_str |
oai:repositorio.unal.edu.co:unal/84964 |
| network_acronym_str |
UNACIONAL2 |
| network_name_str |
Universidad Nacional de Colombia |
| repository_id_str |
|
| dc.title.spa.fl_str_mv |
Implementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento polimérico |
| dc.title.translated.eng.fl_str_mv |
Implementation of a non-planar conformal additive manufacturing device for polymeric filament extrusion |
| title |
Implementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento polimérico |
| spellingShingle |
Implementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento polimérico Manufacturas Tecnología Manufactures Technology Manufactura aditiva Conformada No planar FDM Impresión 3D Duet Additive manufacturing Conformal No planar FDM Duet 3D Printing |
| title_short |
Implementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento polimérico |
| title_full |
Implementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento polimérico |
| title_fullStr |
Implementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento polimérico |
| title_full_unstemmed |
Implementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento polimérico |
| title_sort |
Implementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento polimérico |
| dc.creator.fl_str_mv |
Ortiz Lambertino, Deisy Valeria |
| dc.contributor.advisor.none.fl_str_mv |
Narváez Tovar, Carlos Alberto |
| dc.contributor.author.none.fl_str_mv |
Ortiz Lambertino, Deisy Valeria |
| dc.contributor.researchgroup.spa.fl_str_mv |
Innovación en Procesos de Manufactura E Ingeniería de Materiales (Ipmim) |
| dc.subject.lemb.spa.fl_str_mv |
Manufacturas Tecnología |
| topic |
Manufacturas Tecnología Manufactures Technology Manufactura aditiva Conformada No planar FDM Impresión 3D Duet Additive manufacturing Conformal No planar FDM Duet 3D Printing |
| dc.subject.lemb.eng.fl_str_mv |
Manufactures Technology |
| dc.subject.proposal.spa.fl_str_mv |
Manufactura aditiva Conformada No planar FDM Impresión 3D Duet |
| dc.subject.proposal.eng.fl_str_mv |
Additive manufacturing Conformal No planar FDM Duet 3D Printing |
| description |
ilustraciones, diagramas, fotografías |
| publishDate |
2023 |
| dc.date.accessioned.none.fl_str_mv |
2023-11-27T14:30:30Z |
| dc.date.available.none.fl_str_mv |
2023-11-27T14:30:30Z |
| dc.date.issued.none.fl_str_mv |
2023-11-13 |
| dc.type.spa.fl_str_mv |
Trabajo de grado - Maestría |
| dc.type.driver.spa.fl_str_mv |
info:eu-repo/semantics/masterThesis |
| dc.type.version.spa.fl_str_mv |
info:eu-repo/semantics/acceptedVersion |
| dc.type.content.spa.fl_str_mv |
Text |
| dc.type.redcol.spa.fl_str_mv |
http://purl.org/redcol/resource_type/TM |
| status_str |
acceptedVersion |
| dc.identifier.uri.none.fl_str_mv |
https://repositorio.unal.edu.co/handle/unal/84964 |
| dc.identifier.instname.spa.fl_str_mv |
Universidad Nacional de Colombia |
| dc.identifier.reponame.spa.fl_str_mv |
Repositorio Institucional Universidad Nacional de Colombia |
| dc.identifier.repourl.spa.fl_str_mv |
https://repositorio.unal.edu.co/ |
| url |
https://repositorio.unal.edu.co/handle/unal/84964 https://repositorio.unal.edu.co/ |
| identifier_str_mv |
Universidad Nacional de Colombia Repositorio Institucional Universidad Nacional de Colombia |
| dc.language.iso.spa.fl_str_mv |
spa |
| language |
spa |
| dc.relation.references.spa.fl_str_mv |
ArrowTI 3D. Impresoras 3D FDM plástico. url: https://arrowti3d.com/impresoras-3d. (accessed: 08/02/2023). 5AxisMaker. How 5AxisMaker came to be. 2020. url: https://5axismaker.co.uk/blog/how-5axismaker-came-to-be. (accessed: 05.11.2020). Daniel Ahlers et al. “3D printing of nonplanar layers for smooth surface generation”. En: IEEE International Conference on Automation Science and Engineering 2019- Augus.August (2019), p´ags. 1737-1743. issn: 21618089. doi: 10.1109/COASE.2019.8843116. Faez Alkadi et al. “Conformal additive manufacturing using a direct-print process”. En: Additive Manufacturing 32.October 2019 (2020). ISSN: 22148604. DOI: 10.1016/j.addma.2019.100975. Robert J.A. Allen y Richard S. Trask. “An experimental demonstration of effective Curved Layer Fused Filament Fabrication utilising a parallel deposition robot”. En: Additive Manufacturing 8 (2015), págs. 78-87. ISSN: 22148604. DOI: 10.1016/j.addma.2015.09.001. url: http://dx.doi.org/10.1016/j.addma.2015.09.001. Mohsen Attaran. “The rise of 3-D printing: The advantages of additive manufacturing over traditional manufacturing”. En: Business Horizons 60.5 (2017), págs. 677-688. ISSN: 00076813. DOI: 10.1016/j.bushor.2017.05.011. url: http://dx.doi.org/10.1016/j.bushor.2017.05.011. Autodesk. Diseño generativo aplicado a la fabricación con Fusion 360. 2018. URL: https://www.autodesk.es/solutions/generative-design. (accessed: 08/02/2023). Prahar M. Bhatt et al. “Building free-form thin shell parts using supportless extrusion based additive manufacturing”. En: Additive Manufacturing 32. December (2020). ISSN:22148604. DOI: 10.1016/j.addma.2019.101003. Márton Tamás Birosz, Dániel Ledenyák y Mátyás Andó. “Effect of FDM infill patterns on mechanical properties”. En: Polymer Testing 113.March (2022), pág. 107654. ISSN:01429418. DOI: 10.1016/j.polymertesting.2022.107654. A. Casteláo et al. “Design for AM: Contributions from surface finish, part geometry and part positioning”. En: Procedia CIRP 84 (2019), págs. 491-495. ISSN: 22128271. DOI: 10.1016/j.procir.2019.04.247. url: https://doi.org/10.1016/j.procir.2019.04.247. Debapriya Chakraborty, B. Aneesh Reddy y A. Roy Choudhury. “Extruder path generation for Curved Layer Fused Deposition Modeling”. En: CAD Computer Aided Design 40.2 (2008), págs. 235-243. ISSN: 00104485. DOI: 10.1016/j.cad.2007.10.014. Print3D Colombia. Impresoras 3D de filamento - FDM/FFF. URL: https://www.print3dcolombia . com / 20 - impresoras - 3d - de - filamento - fdmfff. (accessed:08/02/2023). Creality. Download Product Firmware - Ender-3 Pro1,1,6,2VSourceCode. 2021. URL: https : / / www . creality . com / pages / download - ender - 3 - pro ? spm = . . page_1934481.products_display_1.1. (accessed: 08/02/2023). Dotx. 5 Axis Slicer. 2007. URL: https://www.dotxcontrol.com/products/5-axisslicer/. (accessed: 08/02/2023). Duet. Calibrating your Duet-based machine. 2022. URL: https://docs.duet3d.com/en/How_to_guides/Calibration. (accessed: Calibrating your Duet-based machine). Duet. Commissioning your machine. 2023. URL: https://docs.duet3d.com/en/How_to_guides/Commissioning. (accessed: 06/16/2023). Duet. Configuring RepRapFirmware for your machine. 2022. URL: https://docs.duet3d.com/en/How_to_guides/Configuring_firmware. (accessed: 04/06/2022). Duet. Duet 3 Mini 5+. 2023. URL: https://docs.duet3d.com/Duet3D_hardware/Duet_3_family/Duet_3_Mini_5+_Hardware_Overview. (accessed: 08/30/2023). Duet. Duet 3 Mini 5+ Guide Part 1: Wiring. 2023. URL: https://docs.duet3d.com/How_to_guides/e3p_Mini5+_guide_part1_wiring. (accessed: 03/08/2023). Duet. Duet 3 Mini 5+ Guide Part 2: Configuration. 2022. URL: https : / / docs .duet3d.com/How_to_guides/e3p_Mini5+_guide_part2_configuration. (accessed:05/27/2022). Duet. Duet 3 Mini Expansion Mini 2+. 2022. URL: https://docs.duet3d.com/Duet3D_hardware/Duet_3_family/Duet_3_Expansion_Mini_2. (accessed: 02/11/2022). Duet. Duet3D Documentation. 2023. URL: https://docs.duet3d.com/. (accessed:01/24/2023). Duet. Getting connected to your Duet. 2022. URL: https://docs.duet3d.com/en/How_to_guides/Getting_connected/Getting_connected_to_your_Duet. (accessed:07/29/2022). Duet. The Duet family of motion controllers. 2022. URL: https://docs.duet3d.com/en/Duet3D_hardware/Hardware_overview. (accessed: 12/13/2022). Ethereal. Ethereal Halo - 5 Axis CNC. 2021. URL: https://etherealmachines.com/halo-hybrid/. (accessed: 02/26/2023). Esther Titilayo Akinlabi Fredrick Madaraka Mwema. Fused Deposition Modeling. Springer Briefs in Applied Sciences and Technology. Springer Cham, 2020. ISBN: 978-3-030- 48258-9. J. A. Gardner et al. “Aligning material extrusion direction with mechanical stress via 5-axis tool paths”. En: Solid Freeform Fabrication 2018: Proceedings of the 29th Annual International Solid Freeform Fabrication Symposium - An Additive Manufacturing Conference, SFF 2018 (2020), págs. 2005-2019. Freddie Hong et al. “Open5x: Accessible 5-axis 3D printing and conformal slicing”. En: Conference on Human Factors in Computing Systems - Proceedings (2022). doi: 10.1145/3491101.3519782. arXiv: 2202.11426. ISO/ASTM. “Additive manufacturing—General principles—Terminology (ISO/ASTM 52900:2015)”. En: (2015). Sungwoo Lim et al. “Modelling curved-layered printing paths for fabricating large-scale construction components”. En: Additive Manufacturing 12 (2016), pags. 216-230. ISSN: 22148604. doi: 10.1016/j.addma.2016.06.004. url: http://dx.doi.org/10.1016/j.addma.2016.06.004. Somos makeR. Impresoras 3D FDM. URL: https://somosmaker.com/categoriaproducto/impresoras-3d/. (accessed: 08/02/2023). MarlinFirmware. About Marlin Firmware. 2014. URL: https://marlinfw.org/. (accessed:08/02/2023). MarlinFirmware. Repositorio Marlin Firmware. 2014. URL: https://github.com/MarlinFirmware/Marlin. (accessed: 08/02/2023). John C.S. McCaw y Enrique Cuan-Urquizo. “Curved-Layered Additive Manufacturing of non-planar, parametric lattice structures”. En: Materials and Design 160 (2018), págs. 949-963. ISSN: 18734197. DOI: 10.1016/j.matdes.2018.10.024. URL: https://doi.org/10.1016/j.matdes.2018.10.024. Pulak Mohan Pandey, N. Venkata Reddy y Sanjay G. Dhande. “Slicing procedures in layered manufacturing: A review”. En: Rapid Prototyping Journal 9.5 (2003), págs. 274-288. ISSN: 13552546. DOI: 10.1108/13552540310502185. Georg Aarnes Nisja, Anni Cao y Chao Gao. “Short review of nonplanar fused deposition modeling printing”. En: Material Design and Processing Communications 3.4 (2021), págs. 1-11. ISSN: 25776576. DOI: 10.1002/mdp2.221. Robert L. Norton. Diseño de máquinas. México: Pearson Educación, 2011. RepRap. Welcome to the RepRapFirmware Configuration Tool. 2016. URL: https ://configtool.reprapfirmware.org/Start. (accessed: 08/02/2023). Saquib Rouf et al. “Additive manufacturing technologies: Industrial and medical applications”. En: Sustainable Operations and Computers 3.January (2022), págs. 258-274. ISSN: 26664127. DOI: 10.1016/j.susoc.2022.05.001. Aniruddha V. Shembekar et al. “Generating robot trajectories for conformal threedimensional printing using nonplanar layers”. En: Journal of Computing and Information Science in Engineering 19.3 (2019). ISSN: 15309827. DOI: 10.1115/1.4043013. Aniruddha V. Shembekar et al. “Trajectory Planning for Conformal 3D Printing Using Non-Planar Layers”. En: June 2021 (2018). DOI: 10.1115/detc2018-85975. Sarat Singamneni et al. “Modeling and evaluation of curved layer fused deposition”. En: Journal of Materials Processing Technology 212.1 (2012), págs. 27-35. ISSN: 09240136. DOI: 10.1016/j.jmatprotec.2011.08.001. URL: http://dx.doi.org/10.1016/j.jmatprotec.2011.08.001. SKF. Catálogo de rodamientos SKF. Gotemburgo, Secia, 2022. Oyvind Kallevik Grutle. Designing a 5-axis 3D Printer. Department of Informatics. University of Oslo. Master's Thesis Autumn. 2015. Kaufui V. Wong y Aldo Hernandez. “A Review of Additive Manufacturing”. En: ISRN Mechanical Engineering 2012 (2012), págs. 1-10. DOI: 10.5402/2012/208760. Donghua Zhao y Weizhong Guo. “Mixed-layer adaptive slicing for robotic Additive Manufacturing (AM) based on decomposing and regrouping”. En: Journal of Intelligent Manufacturing 31.4 (2020), págs. 985-1002. ISSN: 15728145. DOI: 10.1007/s10845- 019-01490-z. URL: https://doi.org/10.1007/s10845-019-01490-z. |
| dc.rights.coar.fl_str_mv |
http://purl.org/coar/access_right/c_abf2 |
| dc.rights.license.spa.fl_str_mv |
Reconocimiento 4.0 Internacional |
| dc.rights.uri.spa.fl_str_mv |
http://creativecommons.org/licenses/by/4.0/ |
| dc.rights.accessrights.spa.fl_str_mv |
info:eu-repo/semantics/openAccess |
| rights_invalid_str_mv |
Reconocimiento 4.0 Internacional http://creativecommons.org/licenses/by/4.0/ http://purl.org/coar/access_right/c_abf2 |
| eu_rights_str_mv |
openAccess |
| dc.format.extent.spa.fl_str_mv |
xvii, 97 páginas |
| dc.format.mimetype.spa.fl_str_mv |
application/pdf |
| dc.publisher.spa.fl_str_mv |
Universidad Nacional de Colombia |
| dc.publisher.program.spa.fl_str_mv |
Bogotá - Ingeniería - Maestría en Ingeniería - Automatización Industrial |
| dc.publisher.faculty.spa.fl_str_mv |
Facultad de Ingeniería |
| dc.publisher.place.spa.fl_str_mv |
Bogotá, Colombia |
| dc.publisher.branch.spa.fl_str_mv |
Universidad Nacional de Colombia - Sede Bogotá |
| institution |
Universidad Nacional de Colombia |
| bitstream.url.fl_str_mv |
https://repositorio.unal.edu.co/bitstream/unal/84964/1/license.txt https://repositorio.unal.edu.co/bitstream/unal/84964/2/1019139004.2023.pdf https://repositorio.unal.edu.co/bitstream/unal/84964/3/1019139004.2023.pdf.jpg |
| bitstream.checksum.fl_str_mv |
eb34b1cf90b7e1103fc9dfd26be24b4a b4b3f51d358ca4b747b64ac8d1bb6d12 1fb3797dbad74638f0a2976c9fe07eb8 |
| bitstream.checksumAlgorithm.fl_str_mv |
MD5 MD5 MD5 |
| repository.name.fl_str_mv |
Repositorio Institucional Universidad Nacional de Colombia |
| repository.mail.fl_str_mv |
repositorio_nal@unal.edu.co |
| _version_ |
1814089641041592320 |
| spelling |
Reconocimiento 4.0 Internacionalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Narváez Tovar, Carlos Alberto0682c1cb706afbfff1c2b72f1e3d48c5Ortiz Lambertino, Deisy Valeriaf734758533025ed37fb4dc5dec1ff796Innovación en Procesos de Manufactura E Ingeniería de Materiales (Ipmim)2023-11-27T14:30:30Z2023-11-27T14:30:30Z2023-11-13https://repositorio.unal.edu.co/handle/unal/84964Universidad Nacional de ColombiaRepositorio Institucional Universidad Nacional de Colombiahttps://repositorio.unal.edu.co/ilustraciones, diagramas, fotografíasEste documento describe el flujo de trabajo desarrollado para implementar un dispositivo de manufactura aditiva de 5 ejes empleando una impresora 3D Creality Ender 3 Pro en configuración 3 + 2 ejes. El proyecto inicia con la revisión y análisis del estado del arte de dispositivos de fabricación multiejes actualmente existentes, a partir de los cuales se determinan parámetros y requerimientos de diseño. El flujo de diseño inicia con el diseño mecánico de la estructura del sistema, donde se parte de la selección del sistema de transmisión y piezas normalizadas, y se continua con el diseño estructural empleando la herramienta de Diseño Generativo para desarrollar piezas mecánicamente óptimas para su fabricación empleando manufactura aditiva. Se describe la etapa de fabricación de prototipos, verificación del funcionamiento y mejoramiento de las piezas. Para el diseño electrónico se realizó la selección de la tarjeta electrónica, el reemplazo de los dispositivos existentes y la instalación de los nuevos motores y sensores. Códigos G fueron implementados para controlar los movimientos y trayectorias de impresión de los 2 ejes adicionales en conjunto con los 3 ejes principales de la impresora. Los resultados de fabricación de la estructura, implementación electrónica, software Slicer y programación demuestran el funcionamiento e impresión de las probetas de prueba para manufactura en 5 ejes. (Texto tomado de la fuente)This document describes the workflow developed to implement a 5-axis additive manufacturing device using a Creality Ender 3 Pro 3D printer in 3+2-axis configuration. The project begins with the review and analysis of the state of the art for the currently existing multi-axis manufacturing devices, from which parameters and design requirements are determined. The design flow begins with the mechanical design of the system structure, which starts selecting the transmission system and standardized parts, and continues with the structural design using the Generative Design tool to develop mechanically optimal parts for manufacturing using additive manufacturing. The stage of prototype manufacturing, verification of operation and improvement of the parts is described. For the electronic design was developed the selection of the electronic board, the replacement of existing devices and the installation of new motors and sensors. G-codes were implemented to control the movements and printing trajectories of the 2 additional axes in conjunction with the 3 main axes of the printer. The results of structure manufacturing, electronic implementation, Slicer software and programming demonstrate the operation and printing of the test specimens for 5-axis manufacturing.MaestríaMagíster en Ingeniería - Automatización IndustrialIndustria 4.0 en Automatizaciónxvii, 97 páginasapplication/pdfspaUniversidad Nacional de ColombiaBogotá - Ingeniería - Maestría en Ingeniería - Automatización IndustrialFacultad de IngenieríaBogotá, ColombiaUniversidad Nacional de Colombia - Sede BogotáImplementación de un dispositivo de manufactura aditiva conformada no planar para extrusión de filamento poliméricoImplementation of a non-planar conformal additive manufacturing device for polymeric filament extrusionTrabajo de grado - Maestríainfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/acceptedVersionTexthttp://purl.org/redcol/resource_type/TMArrowTI 3D. Impresoras 3D FDM plástico. url: https://arrowti3d.com/impresoras-3d. (accessed: 08/02/2023).5AxisMaker. How 5AxisMaker came to be. 2020. url: https://5axismaker.co.uk/blog/how-5axismaker-came-to-be. (accessed: 05.11.2020).Daniel Ahlers et al. “3D printing of nonplanar layers for smooth surface generation”. En: IEEE International Conference on Automation Science and Engineering 2019- Augus.August (2019), p´ags. 1737-1743. issn: 21618089. doi: 10.1109/COASE.2019.8843116.Faez Alkadi et al. “Conformal additive manufacturing using a direct-print process”. En: Additive Manufacturing 32.October 2019 (2020). ISSN: 22148604. DOI: 10.1016/j.addma.2019.100975.Robert J.A. Allen y Richard S. Trask. “An experimental demonstration of effective Curved Layer Fused Filament Fabrication utilising a parallel deposition robot”. En: Additive Manufacturing 8 (2015), págs. 78-87. ISSN: 22148604. DOI: 10.1016/j.addma.2015.09.001. url: http://dx.doi.org/10.1016/j.addma.2015.09.001.Mohsen Attaran. “The rise of 3-D printing: The advantages of additive manufacturing over traditional manufacturing”. En: Business Horizons 60.5 (2017), págs. 677-688. ISSN: 00076813. DOI: 10.1016/j.bushor.2017.05.011. url: http://dx.doi.org/10.1016/j.bushor.2017.05.011.Autodesk. Diseño generativo aplicado a la fabricación con Fusion 360. 2018. URL: https://www.autodesk.es/solutions/generative-design. (accessed: 08/02/2023).Prahar M. Bhatt et al. “Building free-form thin shell parts using supportless extrusion based additive manufacturing”. En: Additive Manufacturing 32. December (2020). ISSN:22148604. DOI: 10.1016/j.addma.2019.101003.Márton Tamás Birosz, Dániel Ledenyák y Mátyás Andó. “Effect of FDM infill patterns on mechanical properties”. En: Polymer Testing 113.March (2022), pág. 107654. ISSN:01429418. DOI: 10.1016/j.polymertesting.2022.107654.A. Casteláo et al. “Design for AM: Contributions from surface finish, part geometry and part positioning”. En: Procedia CIRP 84 (2019), págs. 491-495. ISSN: 22128271. DOI: 10.1016/j.procir.2019.04.247. url: https://doi.org/10.1016/j.procir.2019.04.247.Debapriya Chakraborty, B. Aneesh Reddy y A. Roy Choudhury. “Extruder path generation for Curved Layer Fused Deposition Modeling”. En: CAD Computer Aided Design 40.2 (2008), págs. 235-243. ISSN: 00104485. DOI: 10.1016/j.cad.2007.10.014.Print3D Colombia. Impresoras 3D de filamento - FDM/FFF. URL: https://www.print3dcolombia . com / 20 - impresoras - 3d - de - filamento - fdmfff. (accessed:08/02/2023).Creality. Download Product Firmware - Ender-3 Pro1,1,6,2VSourceCode. 2021. URL: https : / / www . creality . com / pages / download - ender - 3 - pro ? spm = . . page_1934481.products_display_1.1. (accessed: 08/02/2023).Dotx. 5 Axis Slicer. 2007. URL: https://www.dotxcontrol.com/products/5-axisslicer/. (accessed: 08/02/2023).Duet. Calibrating your Duet-based machine. 2022. URL: https://docs.duet3d.com/en/How_to_guides/Calibration. (accessed: Calibrating your Duet-based machine).Duet. Commissioning your machine. 2023. URL: https://docs.duet3d.com/en/How_to_guides/Commissioning. (accessed: 06/16/2023).Duet. Configuring RepRapFirmware for your machine. 2022. URL: https://docs.duet3d.com/en/How_to_guides/Configuring_firmware. (accessed: 04/06/2022).Duet. Duet 3 Mini 5+. 2023. URL: https://docs.duet3d.com/Duet3D_hardware/Duet_3_family/Duet_3_Mini_5+_Hardware_Overview. (accessed: 08/30/2023).Duet. Duet 3 Mini 5+ Guide Part 1: Wiring. 2023. URL: https://docs.duet3d.com/How_to_guides/e3p_Mini5+_guide_part1_wiring. (accessed: 03/08/2023).Duet. Duet 3 Mini 5+ Guide Part 2: Configuration. 2022. URL: https : / / docs .duet3d.com/How_to_guides/e3p_Mini5+_guide_part2_configuration. (accessed:05/27/2022).Duet. Duet 3 Mini Expansion Mini 2+. 2022. URL: https://docs.duet3d.com/Duet3D_hardware/Duet_3_family/Duet_3_Expansion_Mini_2. (accessed: 02/11/2022).Duet. Duet3D Documentation. 2023. URL: https://docs.duet3d.com/. (accessed:01/24/2023).Duet. Getting connected to your Duet. 2022. URL: https://docs.duet3d.com/en/How_to_guides/Getting_connected/Getting_connected_to_your_Duet. (accessed:07/29/2022).Duet. The Duet family of motion controllers. 2022. URL: https://docs.duet3d.com/en/Duet3D_hardware/Hardware_overview. (accessed: 12/13/2022).Ethereal. Ethereal Halo - 5 Axis CNC. 2021. URL: https://etherealmachines.com/halo-hybrid/. (accessed: 02/26/2023).Esther Titilayo Akinlabi Fredrick Madaraka Mwema. Fused Deposition Modeling. Springer Briefs in Applied Sciences and Technology. Springer Cham, 2020. ISBN: 978-3-030- 48258-9.J. A. Gardner et al. “Aligning material extrusion direction with mechanical stress via 5-axis tool paths”. En: Solid Freeform Fabrication 2018: Proceedings of the 29th Annual International Solid Freeform Fabrication Symposium - An Additive Manufacturing Conference, SFF 2018 (2020), págs. 2005-2019.Freddie Hong et al. “Open5x: Accessible 5-axis 3D printing and conformal slicing”. En: Conference on Human Factors in Computing Systems - Proceedings (2022). doi: 10.1145/3491101.3519782. arXiv: 2202.11426.ISO/ASTM. “Additive manufacturing—General principles—Terminology (ISO/ASTM 52900:2015)”. En: (2015).Sungwoo Lim et al. “Modelling curved-layered printing paths for fabricating large-scale construction components”. En: Additive Manufacturing 12 (2016), pags. 216-230. ISSN: 22148604. doi: 10.1016/j.addma.2016.06.004. url: http://dx.doi.org/10.1016/j.addma.2016.06.004.Somos makeR. Impresoras 3D FDM. URL: https://somosmaker.com/categoriaproducto/impresoras-3d/. (accessed: 08/02/2023).MarlinFirmware. About Marlin Firmware. 2014. URL: https://marlinfw.org/. (accessed:08/02/2023).MarlinFirmware. Repositorio Marlin Firmware. 2014. URL: https://github.com/MarlinFirmware/Marlin. (accessed: 08/02/2023).John C.S. McCaw y Enrique Cuan-Urquizo. “Curved-Layered Additive Manufacturing of non-planar, parametric lattice structures”. En: Materials and Design 160 (2018), págs. 949-963. ISSN: 18734197. DOI: 10.1016/j.matdes.2018.10.024. URL: https://doi.org/10.1016/j.matdes.2018.10.024.Pulak Mohan Pandey, N. Venkata Reddy y Sanjay G. Dhande. “Slicing procedures in layered manufacturing: A review”. En: Rapid Prototyping Journal 9.5 (2003), págs. 274-288. ISSN: 13552546. DOI: 10.1108/13552540310502185.Georg Aarnes Nisja, Anni Cao y Chao Gao. “Short review of nonplanar fused deposition modeling printing”. En: Material Design and Processing Communications 3.4 (2021), págs. 1-11. ISSN: 25776576. DOI: 10.1002/mdp2.221.Robert L. Norton. Diseño de máquinas. México: Pearson Educación, 2011.RepRap. Welcome to the RepRapFirmware Configuration Tool. 2016. URL: https ://configtool.reprapfirmware.org/Start. (accessed: 08/02/2023).Saquib Rouf et al. “Additive manufacturing technologies: Industrial and medical applications”. En: Sustainable Operations and Computers 3.January (2022), págs. 258-274. ISSN: 26664127. DOI: 10.1016/j.susoc.2022.05.001.Aniruddha V. Shembekar et al. “Generating robot trajectories for conformal threedimensional printing using nonplanar layers”. En: Journal of Computing and Information Science in Engineering 19.3 (2019). ISSN: 15309827. DOI: 10.1115/1.4043013.Aniruddha V. Shembekar et al. “Trajectory Planning for Conformal 3D Printing Using Non-Planar Layers”. En: June 2021 (2018). DOI: 10.1115/detc2018-85975.Sarat Singamneni et al. “Modeling and evaluation of curved layer fused deposition”. En: Journal of Materials Processing Technology 212.1 (2012), págs. 27-35. ISSN: 09240136. DOI: 10.1016/j.jmatprotec.2011.08.001. URL: http://dx.doi.org/10.1016/j.jmatprotec.2011.08.001.SKF. Catálogo de rodamientos SKF. Gotemburgo, Secia, 2022.Oyvind Kallevik Grutle. Designing a 5-axis 3D Printer. Department of Informatics. University of Oslo. Master's Thesis Autumn. 2015.Kaufui V. Wong y Aldo Hernandez. “A Review of Additive Manufacturing”. En: ISRN Mechanical Engineering 2012 (2012), págs. 1-10. DOI: 10.5402/2012/208760.Donghua Zhao y Weizhong Guo. “Mixed-layer adaptive slicing for robotic Additive Manufacturing (AM) based on decomposing and regrouping”. En: Journal of Intelligent Manufacturing 31.4 (2020), págs. 985-1002. ISSN: 15728145. DOI: 10.1007/s10845- 019-01490-z. URL: https://doi.org/10.1007/s10845-019-01490-z.ManufacturasTecnologíaManufacturesTechnologyManufactura aditivaConformadaNo planarFDMImpresión 3DDuetAdditive manufacturingConformalNo planarFDMDuet3D PrintingEstudiantesInvestigadoresMaestrosPúblico generalLICENSElicense.txtlicense.txttext/plain; charset=utf-85879https://repositorio.unal.edu.co/bitstream/unal/84964/1/license.txteb34b1cf90b7e1103fc9dfd26be24b4aMD51ORIGINAL1019139004.2023.pdf1019139004.2023.pdfTesis de Maestría en Ingeniería - Automatización Industrialapplication/pdf22264515https://repositorio.unal.edu.co/bitstream/unal/84964/2/1019139004.2023.pdfb4b3f51d358ca4b747b64ac8d1bb6d12MD52THUMBNAIL1019139004.2023.pdf.jpg1019139004.2023.pdf.jpgGenerated Thumbnailimage/jpeg4506https://repositorio.unal.edu.co/bitstream/unal/84964/3/1019139004.2023.pdf.jpg1fb3797dbad74638f0a2976c9fe07eb8MD53unal/84964oai:repositorio.unal.edu.co:unal/849642023-11-27 23:03:39.613Repositorio Institucional Universidad Nacional de Colombiarepositorio_nal@unal.edu.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 |