Fig. 1: HDSP concept and printed objects.
a Schematic of HDSP process with the printed part on a platform mounted on a robotic end effector, showing the end-effector coordinate system (ECS) and translational (xyz) and rotational (ωx, ωy, ωz) degrees of freedom. b Detailed view of the printing region, cavitation bubbles are created near the target pressure image. c Printed “DSP” letters, printing parameters: P = 20 W, f0 = 2.28 MHz, DC = 35%, with their corresponding simulated pressure patterns, p, normalized to the maximum pressure, pmax. d Printed maple leaf, printing parameters: P = 25 W, OD = 50 mm, f0 = 2.28 MHz, DC = 30%. e Fully transparent printed wall axially extruded/printed by feed, f, along +z-axis, printing parameters: P = 6 W, OD = 25 mm, f0 = 2.24 MHz, DC = 20%. f Transparent printed helix by translational and rotational motions of the platform in multi-axis HDSP. g Self-supported U-shape object printed via computed robot trajectory using the same printing condition as (e). OD, P, f0 and DC are transducer aperture size, acoustic power, acoustic center frequency and duty cycle, respectively.
