Metamorphic manufacturing is a type of digital fabrication wherein robotic systems are employed to incrementally deform material into the desired shape. This approach has the potential to reduce material waste compared to subtractive methods such as CNC milling and can achieve material properties superior to what is possible with additive methods like 3D printing. The aim of this project is to develop a prototype metamorphic manufacturing system capable of shaping plasticine clay. Utilizing the 6-axis ABB IRB 1600 robotic arm equipped with a custom end-effector and interchangeable tools, a system was constructed to achieve this objective. A LiDAR camera was explored to capture accurate 3D models of the Plasticine workpiece as it is being shaped. Automated tool-changing was also explored to allow for a fully automatic workflow.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Landay, Jonathan
• Mackenzi, Jacob
• Barry, Sean
• Melgar, Aidan
• Kittler, Charles
• Siegler, Patrick

Publisher

• Worcester Polytechnic Institute

Identifier

• 64956
• E-project-042822-084315

Keyword

• Industrial Robotics
• Manufacturing
• Blacksmithing

Advisor

• Calli, Berk
• Powell, Adam Clayton
• Putnam, Craig B.

Year

• 2022

Date created

• 2022-04-28

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Robotics Engineering
• Computer Science

Rights statement

• In Copyright