{"paper_id":"0f94de9e-dd55-4130-93f5-3c5f0de11e91","body_text":"Research on dual-robot cooperative path planning for multi-material additive manufacturing | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Research on dual-robot cooperative path planning for multi-material additive manufacturing Mingyu Li, Pengcheng Li, Delan Wei, Jiamei Lin, Xuewen Wei, Wei Tian, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4328983/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 06 Nov, 2024 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted 5 You are reading this latest preprint version Abstract To improve the efficiency of multi-material additive manufacturing and enhance the safety of multi-robot cooperative printing with uncertain execution delay, a dual-robot cooperative path planning method is proposed for the layer-by-layer printing mode. In the proposed algorithm, the description of the printing region is reconstructed by simply using the rectangular envelope region and two-dimensional directed line segment, and the adjacency list of the printing region is established to guide the optimization direction. Therefore, redundant information about the printing region is effectively removed, which is conducive to the optimization of the problem. A multi-round cooperation strategy with multiple synchronous starting points is proposed to accommodate uncertain execution delays by separating the space of the dual-robot printing area, so as to avoid the potential collision risk of dual-robot. To further optimize the printing efficiency, local strategies are used to reduce the makespan. Hence, a better printing order can be obtained, and states of cooperative and non-cooperative printing processes can be unified. In addition, the corresponding NC control strategy is designed for the industrial application of the cooperative strategy. The simulation result shows that this method can effectively reduce the makespan of dual-robot cooperative additive manufacturing, and accommodate the uncertain execution delay of the dual-robot. Multi-material Dual-robot Toolpath planning Scheduling strategies Dynamic collision avoidance Full Text Supplementary Files Video.mp4 Cite Share Download PDF Status: Published Journal Publication published 06 Nov, 2024 Read the published version in The International Journal of Advanced Manufacturing Technology → Version 1 posted Editorial decision: Major Revisions Needed 15 May, 2024 Reviewers agreed at journal 09 May, 2024 Reviewers invited by journal 09 May, 2024 Editor assigned by journal 30 Apr, 2024 First submitted to journal 29 Apr, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {\"props\":{\"pageProps\":{\"initialData\":{\"identity\":\"rs-4328983\",\"acceptedTermsAndConditions\":true,\"allowDirectSubmit\":false,\"archivedVersions\":[],\"articleType\":\"Research Article\",\"associatedPublications\":[],\"authors\":[{\"id\":300485788,\"identity\":\"6290f55a-40fc-42d5-aee9-e5f6df43368a\",\"order_by\":0,\"name\":\"Mingyu Li\",\"email\":\"\",\"orcid\":\"\",\"institution\":\"\",\"correspondingAuthor\":false,\"prefix\":\"\",\"firstName\":\"Mingyu\",\"middleName\":\"\",\"lastName\":\"Li\",\"suffix\":\"\"},{\"id\":300485789,\"identity\":\"4f383126-9473-4097-9f9f-80cf37ec4fb7\",\"order_by\":1,\"name\":\"Pengcheng 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