Ink-jet printing allows non-contact dispensing of picoliter volumes of molten metals, adhesives, electro-active polymers, bioactive fluids, chemicals, optical polymers and more.  However, there is a lack of specific knowledge on preventing droplet motion on nonlevel surfaces and methods to detect and change drop volume to regulate fluid placement for desired line width.

Robots are uniquely suited to conduct such printing tasks.  We have developed a novel adaptive control scheme to regulate drop diameter on a surface with unknown properties.  To ensure the print head remains normal to the surface and the robot moves with a desired velocity, we provide a novel approach to curve re-parametrization and associating a moving reference frame to all points on a curve and a stable twist control for the end-effector.   We are currently focusing on extending these results to general curved surfaces.

This material is based upon work supported by the National Science Foundation under Grant No. 1563424.

Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation.