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The Computational Robotics Lab at the University of Zurich is developing a robot that allows styrofoam to be sculpted like an artist. A double-armed robot crafted a sculpture while handling wires. Styrofoam is cut through the movement of two arms and the heating wire is bent or distorted to reproduce a complex curved 3D model.
This robot, called YuMi IRB 14000, has two arms that move in seven degrees of freedom, and each gripper holds the ends of elastic metal wires. When the two arms move, the exact shape of the heating wire must be calculated and modeled.
In addition to learning the robotic arm motion and being able to reproduce the special curve of the heating wire, the heating wire can be damaged if it bends beyond an angle, so it is necessary to understand the limitations and plan the cutting within that range. They developed a tool to calculate a series of curve cuts, such as analyzing the 3D model and removing styrofoam in a specific order. This order should take into account the model complexity. This study takes a unique approach to 3D printing, which is different from the existing form of stacking material layers. Related information can be found here .
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