Abstract: A variety of additive manufacturing techniques can be adapted to fabricate a substantially net shape object from a computerized model using materials that can be debound and sintered into a fully dense metallic part or the like. However, during sintering, the net shape will shrink as binder escapes and the base material fuses into a dense final part. If the foundation beneath the object does not shrink in a corresponding fashion, the resulting stresses throughout the object can lead to fracturing, warping or other physical damage to the object resulting in a failed fabrication. To address this issue, a variety of techniques are disclosed for substrates and build plates that contract in a manner complementary to the object during debinding and sintering.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process and a build material. One or more energy directors such as ridges are formed in an exposed surface of the deposited build material to provide regions of high, localized contact force that can improve interlayer bonding between successive layers of the build material. An ultrasonic vibrator can also usefully be incorporated into the printer to apply additional energy along these energy directors during deposition of a subsequent layer.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process and a metallic build material. A nozzle cleaning fixture may be provided for the printer that is shaped to physically dislodge solidified build material and other contaminants from the nozzle. A robotic system for the printer can be used to maneuver the nozzle into engagement with the nozzle cleaning fixture for periodic cleaning, or in response to a diagnostic condition or the like indicating a clogged nozzle.

Abstract: A printer fabricates an object from a build material based on a computerized model and a fused filament fabrication process. A nozzle for depositing the build material has an interior diameter approaching an outer diameter of build material fed to the nozzle in order to reduce extrusion and resistance forces imposed by the nozzle during deposition, while adequately constraining a planar position of the build material for accurate material deposition in a computer-controlled fabrication process.

Abstract: Techniques are disclosed for fabricating multi-part assemblies. In particular, by forming release layers between features such as bearings or gear teeth, complex mechanical assemblies can be fabricated in a single additive manufacturing process.

Abstract: Robotic manipulators may be used to manipulate objects. Manipulation data about manipulations performed on objects may be generated and accessed. This data may be analyzed to generate a profile indicating how an object may be manipulated. A portion of the profile may be transmitted to a particular robotic manipulator. For example, the portion may be based on a manipulation capability of the robotic manipulator. In turn, the robotic manipulator may use the portion of the profile to manipulate the object.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process and a bulk metallic glass build material. By heating the bulk metallic glass at an elevated temperature in between an object and adjacent support structures, an interface layer can be interposed between the object and support where the bulk metallic glass becomes crystallized to create a more brittle interface that facilitates removal of the support structure from the object after fabrication.

Abstract: Embodiments are described for implementing a mobile inventory transfer station within a workspace of an inventory management system. In embodiments, inventory transfer instructions for moving inventory stored within container holders in a workspace may be received. A portion of container holders within the workspace may be identified based on characteristics associated with the items of the inventory transfer instructions and first information identifying the items stored in the portion of container holders. A mobile container unit and a mobile manipulator unit may be selected based on distances between the units and the identified portion of container holders within the workspace. Instructions may be transmitted to the mobile container unit and mobile manipulator unit for navigating to the identified portion of container holders in the workspace and transferring inventory between a particular container holder and a container associated with the mobile container unit by the mobile manipulator unit.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process. The exit of the nozzle may include a number of concentric rings, where each of which may be selectively opened or closed during extrusion to control extrusion properties such as a volume of extrudate or a mixture of material exiting the nozzle.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process and a metallic build material such as a bulk metallic glass. A thermal history of the object may be maintained, e.g., on a voxel-by-voxel basis in order to maintain a thermal budget throughout the object suitable for preserving the amorphous, uncrystallized state of the bulk metallic glass, and to provide a record for prospective use and analysis of the object.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process. The shape of an extrusion nozzle may be varied during extrusion to control, e.g., an amount of build material deposited, a shape of extrudate exiting the nozzle, a feature resolution, and the like.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process and a bulk metallic glass. A shearing engine within a feed path for the bulk metallic glass actively induces a shearing displacement of the bulk metallic glass to mitigate crystallization, more specifically to extend processing time for handling the bulk metallic glass at elevated temperatures.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process and a bulk metallic glass build material. By using thermally mismatched bulk metallic glasses for an object and adjacent support structures, the interface layer between these structures can be melted and crystallized to create a more brittle interface that facilitates removal of the support structure from the object after fabrication.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process. A former extending from a nozzle of the printer supplements a layer fusion process by applying a normal force on new material as it is deposited to form the object. The former may use a variety of techniques such as heat and rolling to improve physical bonding between layers.

Abstract: A printer fabricates an object from a computerized model using a fused filament fabrication process and a metallic build material. Joule heating is applied to an interface between adjacent layers of the object by creating an electrical circuit across the interface and applying pulsed current sufficient to join the metallic build material across the adjacent layers.

Abstract: In an aspect, a printer fabricates an object from a computerized model using a fused filament fabrication process and a metallic build material. An ultrasonic vibrator is incorporated into the printer to improve the printing process, e.g., by disrupting a passivation layer on the deposited material to improve interlayer bonding, and to prevent adhesion of the metallic build material to a nozzle and other printer components.

Abstract: Embodiments are described for implementing a mobile inventory transfer station within a workspace of an inventory management system. In embodiments, inventory transfer instructions for moving inventory stored within container holders in a workspace may be received. A portion of container holders within the workspace may be identified based on characteristics associated with the items of the inventory transfer instructions and first information identifying the items stored in the portion of container holders. A mobile container unit and a mobile manipulator unit may be selected based on distances between the units and the identified portion of container holders within the workspace. Instructions may be transmitted to the mobile container unit and mobile manipulator unit for navigating to the identified portion of container holders in the workspace and transferring inventory between a particular container holder and a container associated with the mobile container unit by the mobile manipulator unit.

Abstract: Some examples include charging an onboard power source of a mobile drive unit (MDU) of an inventory system while the MDU is operating in the inventory system, rather than removing the MDU from service for recharging. As an example, the MDU may receive instructions to retrieve an inventory holder, and an onboard power source of the MDU may be charged while the MDU and the inventory holder are located at the charging station.

Abstract: Short range transmissions are used to identify potential interactions between warehouse workers and warehouse robots in automated warehouses. The robot can be equipped with one or more short range transmission tags, such as radio frequency identification (RFID) tags, while the warehouse worker can be equipped with a short range transmission reader, such as an RFID reader. The robot can detect a warehouse worker that is within range when the RFID tags on the robot are written to by the RFID reader. The warehouse robots and warehouse workers can also be equipped with one or more cameras to identify fiducials in the automated warehouse and to report their positions. A central control or interaction server can ensure that warehouse robots and warehouse workers are routed appropriately to avoid incidents.

Abstract: Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information can be obtained about constraints relative to relevant elements of a process of transferring the item from place to place. Examples of such elements may include a grasping location from which an item is to be grasped, a receiving location in which a grasped item is to be placed, or a space between the grasping location and the receiving location. The information about the constraints can be used to select from multiple possible grasping options, such as by eliminating options that conflict with the constraints or preferring options that outperform others given the constraints.