Six Degree of Freedom Bioprinter

Hermano P. de Oliveira Jr1, Rodrigo A. Rezende1, Jorge V. L. da Silva1

1 Division of 3D Technologies (DT3D), Renato Archer Information Technology Center (CTI), Campinas, So Paulo, BRAZIL - *e-mail: rrezende@cti.gov.br

INTRODUCTION MATERIALS AND METHODS

Nowadays the de facto robotic mechanism of bioprinters has three degree of freedom (3-DOF), allowing The 6-DOF mechanism of our bioprinter was
accurate positioning of its end effector, but lacking the ability to proper orient it throughout the designed in Solidworks, minimizing the use of
machine workspace. custom machined or 3d printed components, in
such a way that the vast majority of its parts are
For the time being, a 3-DOF brioprinter seems to not impose any limit to what can be accomplished in Tissue commercial off-the-shelf (COTS) parts.
Engineering, mainly because, usually, the researchers intent is to structure a tissue from scratch, shaping its
form on the fly, and because current CAD software (slicers) employ a flat equidistant layer-by-layer paradigm The parallel kinematics of the robotic platform,
that avoid tool collisions. However, sometimes, given a specific tissue geometry, it is necessary to employ having decoupled-motion architecture, was
support material to be discarded at the end of the printing process. simulated (Fig. 2) in Matlab and Mathematica
based on Screw Theory on the SE(3) the group
It is well known that this approach cannot succeed if we try to add tissue on top of an existing shaped tissue of spatial rigid transformations, which, in this
positioned in the machine bed. Mainly because, in that case, 3-DOF tool path strategies leads, invariably, to particular case, is much more appropriate than
collisions or inaccessible spots due to undercutting. Denavit-Hartenbergs approach.

Therefore, we decided to explore the idea of building a bioprinter that can position and
orient its end effector throughout the machine workspace, i.e., having six degree of
freedom (6-DOF Fig. 1).

We chose a parallel-kinematics machine with decoupled-motion architecture because

of its advantages over open-chain mechanisms: lightweight; large workspace;
stiffness in the vertical direction; high payload; precision; accuracy; low vibration; and
high acceleration. In fact, stiffness, payload and acceleration capabilities are not really
Figure 1. The six important for bioprinters, but we decided to keep them because the robotic platform,
degree of freedom of with some modifications, could be used to build a small CNC or 3D printer.
the space we live in

Figure 2. Simulation of joint-space coordinates

evolution of a given tool path
RESULTS
We are currently working to validate the above
The 6-DOF mechanism of our Bioprinter was designed in Solidworks (Fig. 3 and Fig. 4), simulated, and simulations with SimMechanics, which has the
3d-printed in ABS in 1:1 scale (Fig. 5) to communicate the idea. ability to simulate the kinematics of a Solidworks
assembly, rather than from a pure mathematical
model put together by the researcher.

We are also working on dynamics and control.

CONCLUSIONS

The simulations show that this platform is a viable

solution to implement a 6-DOF bioprinter.

The use of COTS parts minimizes costs, design

complexity, purchasing lead time, issues with
obsolescence, replacement, inventory, etc..
Figure 3. Front view Figure 4. Generic view Figure 5. ABS 1:1 print
We are currently working on dynamics and control
algorithms, as well as developing fluid and paste
As can be seen on Fig. 6, the moving arms that connect the end-effector to the base platform are always
dispensers (cells).
parallel to the base platform itself regardless of the end-effector pose (an element of SE(3), which takes into
account locations and rotations) . This property considerably simplifies all math involved.

ACKNOWLEDGEMENTS
Figure 6. End-effector connecting arms are always parallel to the base platform

This study was funded by National Council for

Scientific and Technological Development (CNPq), a
REFERENCES Brazilian funding agency.
1. Yang, G., Chen, I-M., Chen, W. and Lin W. Kinematic Design of a Six-DOF Parallel-Kinematics
Machine with Decoupled-Motion Architecture. IEEE Transactions on Robotics, Vol. 20, No. 5,
October 2004.Kachouie N. et al. Organogenesis, 2010, 6 (4): 234-244.

2. Taghirad, H. D. Parallel Robots: Mechanics and Control. CRC Press, 2013, ISBN 978-1466555761.