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

MATERIALS AND METHODS

INTRODUCTION
Nowadays the de facto robotic mechanism of bioprinters has three degree of freedom (3-DOF), allowing
accurate positioning of its end effector, but lacking the ability to proper orient it throughout the
machine workspace.
For the time being, a 3-DOF brioprinter seems to not impose any limit to what can be accomplished in Tissue
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
that avoid tool collisions. However, sometimes, given a specific tissue geometry, it is necessary to employ
support material to be discarded at the end of the printing process.
It is well known that this approach cannot succeed if we try to add tissue on top of an existing shaped tissue
positioned in the machine bed. Mainly because, in that case, 3-DOF tool path strategies leads, invariably, to
collisions or inaccessible spots due to undercutting.

The 6-DOF mechanism of our bioprinter was

designed in Solidworks, minimizing the use of
custom machined or 3d printed components, in
such a way that the vast majority of its parts are
commercial off-the-shelf (COTS) parts.
The parallel kinematics of the robotic platform,
having
decoupled-motion
architecture,
was
simulated (Fig. 2) in Matlab and Mathematica
based on Screw Theory on the SE(3) the group
of spatial rigid transformations, which, in this
particular case, is much more appropriate than
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).

Figure 1. The six

degree of freedom of
the space we live in

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
important for bioprinters, but we decided to keep them because the robotic platform,
with some modifications, could be used to build a small CNC or 3D printer.
Figure 2. Simulation of joint-space coordinates
evolution of a given tool path

RESULTS
The 6-DOF mechanism of our Bioprinter was designed in Solidworks (Fig. 3 and Fig. 4), simulated, and
3d-printed in ABS in 1:1 scale (Fig. 5) to communicate the idea.

We are currently working to validate the above

simulations with SimMechanics, which has the
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

As can be seen on Fig. 6, the moving arms that connect the end-effector to the base platform are always
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.

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

REFERENCES
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.

We are currently working on dynamics and control

algorithms, as well as developing fluid and paste
dispensers (cells).

ACKNOWLEDGEMENTS
This study was funded by National Council for
Scientific and Technological Development (CNPq), a
Brazilian funding agency.