A Dual-tracking Strategy for Interlayer Deviation Optimization in Mobile Robotic 3D Printing

doi:10.3969/j.issn.1004-132X.2026.06.014

Abstract

Abstract:

A vision-sensing-based dual-tracking continuous mobile 3D printing strategy was proposed to effectively improve the forming accuracy of mobile robotic 3D printing. Optical motion capture technology and blue-light laser triangulation scanning were employed to obtain the interlayer deviations among the mobile chassis， the end-effector of the printing manipulator， and the extruded filament under two printing modes： single-chassis tracking and chassis-manipulator collaborative tracking. Furthermore， the portability of the dual-tracking strategy was tested by printing models of different geometries. The results demonstrate that， compared with the semi-open-loop single-chassis tracking approach， the dual-tracking mobile 3D printing strategy with chassis-manipulator collaboration reduces the root mean square error（RMSE） of filament interlayer deviation from 5.3~13.0 mm to 1.4~2.3 mm， representing an improvement of 73.6%~88.0%. These findings verify the effectiveness and portability of the dual-tracking printing strategy in optimizing interlayer deviation.

Key words: mobile 3D printing, mobile robot, printing strategy, interlayer deviation, deviation optimization

摘要：

提出一种基于视觉传感的双寻迹连续移动3D打印策略，以有效提高移动机器人3D打印的成形精度。采用光学动作捕捉技术和蓝光激光三角扫描技术获得移动底盘、打印机械臂末端与挤出丝三者在单一底盘寻迹、底盘-机械臂协同寻迹两种打印方式下的层间偏差，并测试了双寻迹策略在不同形状模型打印中的可移植性。研究表明，相对于单一底盘寻迹的半开环移动3D打印方式，底盘-机械臂协同寻迹的双寻迹移动3D打印方式能将挤出丝的层间偏差均方根误差由5.3~13.0 mm降至1.4~2.3 mm，较对照组提高73.6%~88.0%，验证了双寻迹打印策略优化层间偏差的有效性与可移植性。

关键词: 移动3D打印, 移动机器人, 打印策略, 层间偏差, 偏差优化

CLC Number:

TS853

CHEN Ruiguo, AIYITI Wurikaixi. A Dual-tracking Strategy for Interlayer Deviation Optimization in Mobile Robotic 3D Printing[J]. China Mechanical Engineering, 2026, 37(6): 1410-1417.

陈瑞国, 乌日开西·艾依提. 面向移动机器人3D打印层间偏差优化的双寻迹策略研究[J]. 中国机械工程, 2026, 37(6): 1410-1417.

Figures/Tables 16

Fig.1 High-precision optical 3D motion capture analysis system

Fig.2 Block diagram of double closed-loop control error suppression mechanism

Fig.3 Experimental setup and printing principle

Fig.4 Intelligent chassis preset trajectory line

Tab.1 Experimental scheme for optimizing interlayer deviation in dual-tracking mobile 3D printing

组别	打印层	寻迹状态
对照组	第一层	单一底盘寻迹
对照组	第二层	单一底盘寻迹
实验组	第一层	单一底盘寻迹
实验组	第二层	底盘-机械臂协同寻迹

Tab.2 Chassis tracking PID controller optimization parameters

被控变量

比例

增益 $K p$

积分

增益 $K i$

微分

增益 $K d$

前馈

增益 $K f f$

采样

周期T/ms

角速度

ω z

Tab.2 Chassis tracking PID controller optimization parameters

被控变量

比例

增益 $K p$

积分

增益 $K i$

微分

增益 $K d$

前馈

增益 $K f f$

采样

周期T/ms

角速度

ω z

1.8

0.003

0.22

0.89

Fig.5 System coordinate system

Fig.6 Nozzle offset condition

Fig.7 Comparison between theoretical and actual chassis trajectories

Tab.3 Deviation table between actual and theoretical trajectories of chassis tracking

组别	寻迹方法	平均偏差/mm	标准差/mm	RMSE/mm
1	底盘寻迹第一层	7.5	3.2	8.1
	底盘寻迹第二层	4.9	3.4	6.0
	底盘寻迹第一层	2.7	1.9	3.3
	底盘-机械臂协同寻迹第二层	7.9	7.5	10.9
	最小偏差	2.7	1.9	3.3
	最大偏差	7.9	7.5	10.9
2	底盘寻迹第一层	5.4	2.9	6.7
	底盘寻迹第二层	2.6	2.4	3.6
	底盘寻迹第一层	2.4	2.0	3.1
	底盘-机械臂协同寻迹第二层	8.0	4.9	9.4
	最小偏差	2.4	2.0	3.1
	最大偏差	8.0	4.9	9.4
3	底盘寻迹第一层	6.9	6.9	9.8
	底盘寻迹第二层	5.2	3.4	5.5
	底盘寻迹第一层	2.8	3.4	4.4
	底盘-机械臂协同寻迹第二层	2.9	2.4	3.8
	最小偏差	2.8	2.4	3.8
	最大偏差	6.9	6.9	9.8

Fig.8 Comparison of inter layer trajectories at the end of robotic arm

Tab.4 Mechanical arm end layer deviation table

组别	偏差类型	单一底盘寻迹	底盘-机械臂协同寻迹	优化率/%
1	最大偏差/mm	5.3	3.9	26.3
	标准差/mm	2.5	2.4	4.5
	RMSE/mm	5.9	4.6	22.0
2	最大偏差/mm	9.4	3.9	58.0
	标准差/mm	5.9	3.0	49.1
	RMSE/mm	11.1	5.0	55.2
3	最大偏差/mm	6.0	2.8	53.9
	标准差/mm	3.2	2.0	38.0
	RMSE/mm	6.8	3.4	49.9

Fig.9 Comparison of inter layer deviation of extruded fibers

Tab.5 Extrusion filament layer deviation table

组别	偏差类型	单一底盘寻迹	底盘-机械臂协同寻迹	优化率/%
1	最大偏差/mm	32.8	4.9	85.2
	标准差/mm	5.6	1.6	71.4
	RMSE/mm	5.3	1.4	73.6
2	最大偏差/mm	39.5	12.7	67.9
	标准差/mm	10.1	2.5	75.2
	RMSE/mm	9.6	2.3	75.6
3	最大偏差/mm	64.1	8.7	86.4
	标准差/mm	13.2	2.1	83.8
	RMSE/mm	13.0	1.6	88.0

Fig.10 35-layer 1200 mm×1200 mm thin-walled printing verification

Fig.11 Verification of thin-walled transplantability printing with different shapes

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