In this bachelor thesis, I examine how automation of fused filament fabrication (FFF) can be implemented, and what the limitations are for different kinds of automation solutions for FFF. Fused filament fabrication is a 3D-printing technology where a material is extruded through a nozzle, layer by layer, to create a print. The thesis also provides a calculation for the commercial feasibility of small batch rapid production with the implementation of an automation solution for FFF. The approach was a qualitative study containing five interviews, combined with empirical knowledge and data from the additive manufacturing company Svensson 3D. This was complemented with an analysis of which criteria to use when evaluating FFF automation solutions, and a framework for looking at FFF from an operator perspective. To calculate commercial feasibility of automation solutions for FFF, Internal Rate of Return and Payback Time were used. This resulted in six criteria to evaluate solutions for automation of FFF, three evaluations of problems within three solutions for automation of FFF, and a finding showing that small batch rapid production is commercially feasible with automated FFF. Lastly, the thesis contains a discussion regarding what the future is for FFF, and the limitations of the framework presented for evaluating automated FFF systems. Possible promising solutions for automated FFF are presented, together with ideas for how design for additive manufacturing can help shape the future of automated FFF. / I det här kandidatarbetet undersöker jag hur automatisering inom fused filament fabrication (FFF) kan implementeras, och vad begränsningarna är för olika sorters automatiseringslösningar för FFF. Det läggs även fram en uträkning för den kommersiella gångbarheten för small batch rapid production med implementeringen av ett automatiskt FFF-system. Tillvägagångsättet bestod av en kvalitativ studie baserad på fem intervjuer, kombinerad med empirisk kunskap och data från additiva tillverkningsföretaget Svensson 3D. Det här kompletterades med en analys av vilka parametrar som bör användas för att utvärdera lösningar för FFF-automatisering, och ett ramverk där automatiseringslösningarna betraktas ur ett operatörs-perspektiv. För att räkna ut den kommersiella gångbarheten för automatiseringslösningar av FFF användes internränta och återbetalningstid. Det här resulterade i sex parametrar för att utvärdera automatiseringslösningar för FFF, tre utvärderingar av vilka problem som finns i tre existerande automatiseringslösningar, och slutsatsen att small batch rapid production är kommersiellt gångbart för automatiserad FFF. Slutligen innehåller arbetet en diskussion gällande framtiden för FFF och begränsningarna hos det ramverk som presenterades för att utvärdera automatiserade FFF system. Möjliga lovande lösningar för automatiserad FFF presenteras och hur design för additiv tillverkning kan hjälpa till att forma framtiden för automatiserad FFF.

No description available.

Additive Manufacturing (AM, 3D printing) has made significant advancements over the past decade and has become a viable alternative to traditional machining techniques. AM offers several advantages over traditional manufacturing techniques including improved geometric freedom, reduction in part lead time, cost savings, enhanced customization, mass reduction, part elimination, and remote production. There are many different AM processes with the most commonly used process being Fused Filament Fabrication (FFF). Small satellites have also made significant advancements over the past two decades with the number of missions launched annually increased by orders of magnitude over that time span. Small satellites offer several advantages compared to traditional spacecraft architectures including increased access to space, lower development costs, and disaggregated architectures. On-orbit manufacturing and assembly have become major research and development topics for government and commercial entities seeking the capability to build very large structures in space. AM is well suited on-orbit manufacturing since the process is highly automated, produces little material waste, and allows for a large degree of geometric freedom. This dissertation seeks to address three major research objectives regarding applications of additive manufacturing in space systems: demonstrate the feasibility of 3D printing an ESPA class satellite using FFF, develop a FFF 3D printer that is capable of operating in high vacuum and characterize its performance, and analyze the coupled dynamics between a satellite and a robot arm used for 3D printing in-space. This dissertation presents the design, finite element analysis, dynamic testing, and model correlation of AdditiveSat, an additively manufactured small satellite fabricated using FFF. This dissertation also presents the design, analysis, and test results for a passively cooled FFF 3D printer capable of manufacturing parts out of engineering grade thermoplastics in the vacuum of space. Finally, this dissertation presents a numerical model of a free-flying small satellite with an attached robotic arm assembly to simulate 3D printing structures on-orbit with analysis of the satellite controls required to control the dynamics of the highly coupled system. / Doctor of Philosophy / 3D printing has made significant advancements over the past decade and has become common place in offices, schools, and even the homes of hobbyist. 3D printing has become an alternative to traditional machining techniques, such as machining parts from blocks of material. 3D printing offers several advantages over traditional manufacturing techniques including improved geometry freedom, reduction in part lead time, cost savings, enhanced customization, mass reduction, part elimination, and remote production. There are many different types of 3D printing with the most commonly used process being Fused Filament Fabrication (FFF) in which a thermoplastic is melded by a hotend and then extruded through a nozzle to deposited material layer-by-layer onto a printed part. Small satellites have also made significant advancements over the past two decades with the number of missions launched annually greatly increased over that time span. Small satellites offer several advantages compared to traditional spacecraft including increased access to space and lower development costs. On-orbit manufacturing and assembly have become major research and development topics for government and commercial entities seeking the capability to build very large structures in space. This dissertation seeks to address three major research objectives regarding applications of additive manufacturing in space systems: demonstrate the feasibility of 3D printing an ESPA class satellite using FFF, develop a FFF 3D printer that is capable of operating in high vacuum and characterize its performance, and analyze the coupled dynamics between a satellite and a robot arm used for 3D printing in-space. This dissertation presents the design, analysis, and test results of AdditiveSat, a 3D printed small satellite made using FFF. This dissertation also presents the development of a FFF 3D printer capable of operating in the vacuum of space. Finally, this dissertation presents a numerical simulation that models 3D printing structures on-orbit with a small satellite equipped with a robot arm.

Thermoplastic composites that have been reinforced by thermotropic liquid crystalline (TLCP) fibrils in the microscale and by nanoparticles in the nanoscale are defined as multi-scale wholly thermoplastic composites (WTCs). Multi-scale WTCs have been proposed as lightweight replacements with high performance for some traditional glass fiber (GF) and carbon fiber (CF) reinforced composites materials in various applications. TLCPs are known for performing mechanical properties similar to those of the lower end of CF but significantly better than those of GF. To enhance the mechanical properties of TLPC reinforced WTCs, carbon nanotubes (CNTs) are considered being used as a secondary enhancement in WTCs. CNTs have gathered significant interest in the last 30 years because of their high aspect ratio, high mechanical properties, and other high-performance properties. The focus of this work is on investigating the processing conditions of generating in situ injection-molded multi-scale WTCs, then extending the technology to dual-extrusion and fused filament fabrication (FFF) and obtain high-performance multi-scale WTC products. This dissertation initially focused on investigating the processing conditions, in particular mixing histories and processing temperature profiles, of generating in situ injection-molded multi-scale WTCs, which consist of a representative TLCP, scCO2 aided exfoliated CNTs, and the thermoplastic matrix polyamide 6 (PA 6). The supercooling behavior of the TLCP and thermal stability of PA 6 are studied by applying the rheological methods of small amplitude oscillatory shear (SAOS). Multiple mixing histories with CNTs and processing temperature profiles are analyzed based on the criterion of maximizing tensile properties of multi-scale WTCs and minimizing thermal degradation of the matrix. Under the optimum processing conditions, the in situ injection-molded multi-scale WTCs exhibit a 26% and 34% tensile modulus and strength enhancement, compared to the in situ injection-molded WTCs with no CNTs. Scanning electron micrograph (SEM) images were used to understand the enhancement. The second part of this work is to extend the scCO2 aided in situ multi-scale WTCs processing technology to dual-extrusion and FFF. Multi-scale WTC filaments, which consists of TLCP, CNTs, and polyamide copolymer (PAc), are generated by dual-extrusion, and 3D printed into rectangular specimens in FFF. The 1 wt% CNTs reinforced multi-scale WTC filaments generated by the means of dual-extrusion exhibit 225% and 80% improvement in tensile modulus and strength, respectively, compared to the WTC filaments with no CNTs. In FFF, 40 wt% TLCP/1 wt% CNT/PAc 3D printed specimens with filament laid in longitudinal direction exhibited excellent tensile modulus and strength of 38.92 GPa and 127.16 MPa, respectively. The well-dispersed exfoliated CNTs show high alignment with TLCP microfibrils in the multi-scale WTC filaments and their laid-down specimens, which causes the significant tensile modulus enhancement. Bridging elements are discovered between TLCP fibrils and PAc matrix to improve interfacial adhesion, which is attributed to the well-dispersed exfoliated CNTs. Finally, the significant improvements in tensile properties attributed to scCO2 aided exfoliated CNTs in WTCs are verified on the multi-scale WTCs based on polypropylene (PP). Moreover, additional tensile properties improvements for exfoliated CNTs reinforced multi-scale WTCs are obtained with the use of maleic anhydride grafted polypropylene (MAPP). With 1 wt% CNTs and 16 wt% MAPP dual reinforcement, 20 wt% TLCP reinforced WTCs based on polypropylene (PP) exhibit 265%, 274%, and 182% improvement in the tensile modulus of the filaments, laid up specimens in the concentric pattern and laid up specimens in ±45° rectilinear pattern, respectively. The dual reinforcement also improves the tensile strength of 20 wt% TLCP reinforced WTC filaments by up to 73%. The high alignment between TLCP fibrils and CNTs are confirmed in the multi-scale WTCs based on PP. Besides the bridging elements attributed to CNTs found in the second part of this work, SEM images show that CNTs are partially trapped in TLCP fibrils. / Doctor of Philosophy / Considering the need for environmentally friendly materials, novel thermoplastic composites with high mechanical performance, lightweight, and potentially high recyclability properties were generated in this work. Two types of thermoplastic matrices, polyamide (PA or nylon) and polypropylene (PP) were reinforced with carbon nanotubes (CNTs) and rigid chain polymers known as thermotropic liquid crystalline polymers (TLCPs). CNTs are known for their high mechanical properties and high aspect ratio, which are helpful to reinforce thermoplastic composite materials. During injection molding and the dual-extrusion processes, TLCPs deform into almost continuous microfibrils and reinforce the thermoplastic matrices. Instead of using traditional glass fibers or carbon fibers to reinforce thermoplastics, TLCP reinforced thermoplastic composites, which are defined as wholly thermoplastic composites (WTCs), can retain their mechanical properties during the recycling process such as in injection molding and have better performance during the lay-down process in fused filament fabrication. The goal of this work was to generate CNTs reinforced WTCs for use in injection molding and fused filament fabrication with high mechanical performance. In the injection molding process for generating CNTs reinforced WTC end-gated plaques, it was determined that the optimum thermal mixing histories for the CNTs could be identified by the inspections of the tensile property measurements and scanning electron microscopy (SEM). With the obtained optimum thermal mixing histories with CNTs, CNTs reinforced WTC filaments were generated by dual extrusion technology and used in fused filament fabrication. With 1 wt% addition of CNTs, the tensile properties of WTCs were significantly enhanced in both the filament materials and the laid-down parts. Especially, the CNT reinforced WTC filaments based on nylon matrices exhibited competitive tensile moduli to long carbon fiber reinforced nylon composite filaments, which was also competitive to the properties of aluminum alloys. In addition, the laid-down parts of CNTs reinforced WTC based on PP presented further tensile strength improvement due to the improved interfacial adhesion between the laid-down filaments and between layers, which was attributed to the addition of maleic anhydride grafted polypropylene.

La fabrication additive est un procédé d’élaboration permettant la mise en forme d’une pièce par ajout de matière, par empilement de couches successives. Bien que de plus en plus de polymères puissent être mis en œuvre par cette technologie, les polymères chargés en sont quasiment absents, alors qu’ils sont largement utilisés dans les autres types de procédés de mise en forme. Les objectifs scientifiques et technologiques du projet concernent (i) une meilleure compréhension des relations entre le comportement rhéologique de systèmes polymères et leur aptitude à la mise en forme par les technologies de fabrication additive FDM, (ii) le développement de formulations de base de polymères bio-sourcés adaptées à ces technologies et apportant une multifonctionnalité. Le premier objectif nécessitera tout d’abord d’identifier les conditions (température, gradients de vitesse, nature des contraintes, …) imposées par les procédés considérés puis de mettre en place et/ou d’adapter les moyens de caractérisation du comportement rhéologique des systèmes polymères dans ces conditions. Le comportement rhéologique en cisaillement mais aussi en élongation pourra être considéré. Il conviendra en particulier d’identifier les compromis nécessaires entre comportement adapté à l’écoulement en filière ou en buse et aptitude à la fusion et à la consolidation couche par couche. Enfin, l’effet des différentes voies de fonctionnalisation envisagées sur le comportement rhéologique et thermique et donc sur l’aptitude à la mise en forme devra être analysé. De façon à adapter les polymères bio-sourcés à un large panel d’applications, diverses voies de fonctionnalisation seront considérées, basées sur le compoundage avec des charges particulaires. / Additive manufacturing process is a preparation for the forming of a workpiece by the addition of material, by stacking successive layers. Although more and more polymers can be implemented by this technology, the filled polymers are practically absent, so they are widely used in other types of shaping methods. The scientific and technological objectives of the project are (i) a better understanding of the relationship between the rheological behavior of polymer systems and their ability to shaping by additive manufacturing technologies FDM, (ii) the development of polymer-based formulations biosourced adapted to these technologies and providing multifunctionality. The first goal will require first of all to identify the conditions (temperature, velocity gradients, nature constraints ...) imposed by the processes considered then to implement and / or adapt the means of characterization of the rheological behavior of polymer systems under these conditions. The rheological behavior in shear but also in elongation may be considered. It should in particular identify the necessary compromise between behavior adapted to the flow at the die or nozzle and meltability and consolidation layer by layer. Finally, the effect of different ways of functionalization considered on the rheological and thermal behavior and thus on the ability to formatting will be analyzed. In order to adapt the bio-sourced polymers for a wide range of applications, various routes of functionalization will be considered based on compounding with particulate fillers.

I det här utvecklas en reproducerbar polymerisationsmetod för att uppnå en stabil produktion av poly(ε-caprolakton-co-p-dioxanon) (PCLDX), skala upp filamenttillverkningen för att producera 1.75 mm långa filament och optimera 3D-utskriftsprocessen för att tillverka ställningar/anordningar för mjukvävnadsteknik. PCLDX, med högre nedbrytningshastighet och bättre flexibilitet jämfört med poly(ε-caprolactone) (PCL), syntetiserades på ett reproducerbart sätt genom sampolymerisering. Den syntetiserade PCLDX uppvisade önskvärd sammansättning (85 mol% CL : 15 mol% DX), molmassa (cirka 40 kg∙mol-1), dispersitet (cirka 1.8) och relativt låg smältpunkt (cirka 45 ℃). För att tillverka tredimensionella matriser av PCLDX utformades och optimerades två processer, filamenttillverkning och 3D printning. För filamenttillverkningsprocessen användes låg extruderingstemperatur (65 och 80 ℃) och låg extruderingshastighet (100 cm∙min-1) för att spara energi och minimera nedbrytningen. PCLDX-filament med en jämn diameter på 1.75 mm tillverkades genom att använda en passande partikelstorlek (diameter på 3-4 mm) och en kylmetod (blandning av vatten och torris, 0 ℃). De erhållna filamenten uppvisade lägre Youngs modul (25 % lägre än PCL), PCLDX batch oberoende termiska egenskaper, god ytkvalitet och printbarhet. Den termiska nedbrytningen av PCLDX under processen var försumbar och molmassan var nästintill oförändrad. Processen har skalats upp för att producera stora mängder PCLDX-filament, vars produktivitet nådde upp till 140 g∙h-1. Tredimensionella matriser tillverkades genom att printa önskad design genom manuell matning och låg printhastighet (5 mm/s). En isplatta användes för att kyla ner maskinen under printningen för att undvika bucklingproblem. Det optimerade printprotokollet genererade ingen termisk nedbrytning av polymeren, påverkade inte polymerens molmassa eller dispersitet. De producerade matriserna hade samma termiska egenskaper oavsett polymerbatch och god ytkvalitet. Det optimerade printprotokollet användes också framgångsrikt för att skriva ut komplicerade prototyper, t.ex. menisk och knäprotes för potentiella biomedicinska tillämpningar. / In this project, we develop a reproducible polymerization method to achieve stable production of poly(ε-caprolactone-co-p-dioxanone) (PCLDX), scale-up the filament fabrication to produce 1.75 mm filaments and optimize 3D printing process to manufacture scaffolds/devices for soft tissue engineering. PCLDX, with a higher degradation rate and better pliability compared to poly(ε-caprolactone) (PCL), was successfully synthesized by reproducible copolymerization of ε-caprolactone (CL) and p-dioxanone (DX). The synthesized PCLDX exhibited a polymer composition of 85 mol% CL : 15 mol% DX, molar mass around 40 kg∙mol-1, dispersity around 1.8, and relatively low melting point around 45 ℃. From PCLDX particles to final scaffolds, two processes, including filament fabrication and scaffold manufacturing, were designed and optimized. For the filament fabrication process, low extrusion temperature (65 and 80 ℃) and low extrusion speed (100 cm∙min-1) were applied to save energy and minimize degradation. PCLDX filaments with an even diameter of 1.75 mm were fabricated using suitable particle sizes (diameter of 3-4 mm) and a cooling method (mixture of water and dry ice, 0℃). The obtained filaments exhibited lower young’s modulus (25% lower than PCL), consistent thermal properties, good surface quality, and printability. The thermal degradation of PCLDX during the process was negligible, and the molar mass was kept almost unchanged. The process has been scaled up to produce high amounts of PCLDX filaments, whose productivity rate reached up to 140 g∙h-1. For the scaffold manufacturing process, porous scaffolds were manufactured by feeding manually and printing slowly (5 mm/s). The printability was assessed and validated using produced PCL/PCLDX filaments and commercial PCL filaments. The optimized printing protocol maintained the molar mass and dispersity of the material. The produced scaffolds possessed consistent thermal properties independent on polymer batches and good surface quality. The optimized printing protocol was also successfully applied to print complicated prototypes, such as meniscus and knee prosthesis for potential biomedical applications.

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Plastics contribute 2 GTons to the global carbon footprint, today, several countries have set targets to achieve carbon neutrality. Plastics, being a major contributor to global carbon footprint, would need to be reduced significantly from our daily life to achieve that or a way needs to be devised to recycle them. A big bottleneck in this process is to reduce the consumption of thermosetting plastics or to reduce the emissions associated with plastic and move towards economical and environmentally safe plastics having a longer lifespan and efficient recyclability. Fused filament fabrication (FFF) is the most commonly used 3D printed technology available today. Its applications range from production of prototypes to hollow shafts, and fully functional commercial components. This technology is revolutionary in a sense that it offers advantages such as cheaper raw materials, high degree of customizability, production in smaller batches at lower costs, decrease in material wastage, rapid prototyping, and complex geometry. A number of thermoplastic polymers can be used with FFF technology to produce parts, in addition research is on going to print materials not commonly used for FFF process. Polyoxymethylene (POM) could be a viable option for utilization as FFF basestock for the production of tribologically functional components. POM is an engineering thermoplastic that offers high resistance to wear, low friction, excellent impact resistance, and good chemical resistance. These properties render it suitable for production of gear wheels and low load bearings. It is currently processed using traditional manufacturing methods such as injection and compression moulding, while its printability has received very little attention in the openly available literature. An attempt has been made in this thesis to fill up this research gap by providing insight into POM filament quality, and the thermal, mechanical, and tribological behaviour of POM printed parts. The influence of overfill and layer height on the bulk properties of the printed samples, its play with counterface surface roughness and applied load has also been investigated.

<div>The work discussed in this document seeks to integrate conductive additives with energetic material systems to offer an alternative source of ignition for the energetic material. By utilizing the conductive properties of the additives, ohmic heating may serve as a method for preheating and igniting an energetic material. This would allow for controlled ignition of the energetic material without the use of a traditional ignition source, and could also result in easier system fabrication.</div><div>For ohmic heating to be a viable method of preheating or igniting these conductive energetic materials, there cannot be significant impact on the energetic properties of the energetic materials. Various mass solids loadings of graphene nanoplatelets (GNPs) were mixed with a reactive mixture of aluminum (Al)/polyvinylidene fluoride (PVDF) to test if ohmic heating ignition was feasible and to inspect the impact that these loadings had on the energetic properties of the Al/PVDF. Results showed that while ohmic heating was a plausible method for igniting the conductive energetic samples, the addition of GNPs degraded the energetic properties of the Al/PVDF. The severity of this degradation was minimized at lower solids loadings of GNPs, but this consequently resulted in larger voltage input requirements to ignite the conductive energetic material. This was attributable to the decreased conductivities of the samples at lower solids loading of GNPs.</div><div>In hopes of conserving the energetic properties of the Al/PVDF while integrating the conductive additives, additive manufacturing techniques, more specifically fused filament fabrication, was used to print two distinct materials, Al/PVDF and a conductive composite, into singular parts. A CraftBot 3 was used to selectively deposit Conductive Graphene PLA (Black Magic) filament with a reactive filament comprised of a PVDF binder with 20% mass solids loadings of aluminum. Various amounts of voltage were applied to these conductive energetic samples to quantify the time to ignition of the Al/PVDF as the applied voltage increased. A negative correlation was discovered between the applied voltage and time to ignition. This result was imperative for demonstrating that the reaction rate could be influenced with the application of higher applied voltages.</div><div>Fused filament fabrication was also used to demonstrate the scalability of the dual printed conductive energetic materials. A flexural test specimen made of the Al/PVDF was printed with an embedded strain gauge made of the Black Magic filament. This printed strain gauge was tested for dual purposes: as an igniter and as a strain sensor, demonstrating the multi-functional use of integrating conductive additives with energetic materials.</div><div>In all, the experiments in this document lay a foundation for utilizing conductive additives with energetic materials to offer an alternative form of ignition. Going forward, ohmic heating ignition may serve as a replacement to current, outdated methods of ignition for heat sensitive energetic materials.</div>

In this thesis, the incorporation of drug loaded mesoporous magnesium carbonate as an excipient for the additive manufacturing of oral tablets by fused deposition modeling was investigated. Cinnarizine, a BCS class II drug, was loaded into the pores of the mesoporous material via a soaking method, corresponding to a drug loading of 8.68 wt%. DSC measurements on the loaded material suggested that the drug was partially crystallized after incorporation, meanwhile the XRD diffractogram implied that the drug was in a state lacking long range order. The drug loaded material was combined with two pharmaceutical polymers, Aquasolve LG and Klucel ELF, and extruded into filaments with a single screw extruder. Filaments of Klucel ELF and drug loaded Upsalite (30:70 wt% ratio) were successfully implemented for the printing oral tablets, in contrast to the Aquasolve LG based filaments which were difficult to print due to thickness variations and non-uniform material distributions. The drug content obtained by TGA suggested drug loadings of 7.71 wt% and 2.23 wt% in the drug loaded Upsalite and tablets respectively. Dissolution studies using an USP II apparatus showed a slower API-release from the tablets in comparison to the crystalline drug, most probably due to slow diffusion of drug species through the polymeric matrix. For future studies, pharmaceutical polymers with higher aqueous solubility should be investigated in order to thoroughly examine the potential of utilizing the immediate release property of Upsalite.