Abstract: The present disclosure relates to a kinematics calibration method for a robot with multiple degrees of freedom. The robot includes a base, an end effector, and a plurality of links connected by joints. The method includes locking part of the multiple degrees of freedom by limiting the base and the end effector impose a limitation of degree of freedom; moving the robot to perform a first movement and accordingly obtaining a first set of data associated with joint angles and a first actual motion of the end effector; calculating a first theoretical motion of the end effector based on the first set of data and initial kinematics parameters; and updating the initial kinematics parameters of the robot to obtain a first set of updated kinematics parameters based on the first theoretical motion and the first actual motion.

Abstract: A support fixture is provided for forming a three dimensional article of manufacture onto a lower build surface thereof. The formation of the three dimensional article occurs in a resin vessel containing photocurable resin. The resin vessel includes a transparent sheet that forms a lower bound for the resin. The support fixture includes an interface fixture and a replaceable support. The interface fixture includes an upper portion having alignment and gripping features, a lower portion surrounding a central opening and including a plurality of attachment features, and a side wall coupling the upper and lower portions. The replaceable support includes a planar portion having a lower surface (providing the lower build surface) for attachment of the three dimensional article of manufacture and a peripheral support portion including complementary attachment features engaging the attachment features when the peripheral support portion is mounted to the lower portion of the interface fixture.

Abstract: A support fixture is provided for forming a three dimensional article of manufacture onto a lower build surface thereof. The formation of the three dimensional article occurs in a resin vessel containing photocurable resin. The resin vessel includes a transparent sheet that forms a lower bound for the resin. The support fixture includes an interface fixture and a replaceable support. The interface fixture includes an upper portion having alignment and gripping features, a lower portion surrounding a central opening and including a plurality of attachment features, and a side wall coupling the upper and lower portions. The replaceable support includes a planar portion having a lower surface (providing the lower build surface) for attachment of the three dimensional article of manufacture and a peripheral support portion including complementary attachment features engaging the attachment features when the peripheral support portion is mounted to the lower portion of the interface fixture.