Amazon Technologies, Inc.

Desktop Metal, Inc.

Matthew David Verminski

Andrew Stubbs

Peter R Wurman

Yet-Ming Chiang

Anastasios John Hart

Christopher Allan Schuh

Richard Remo Fontana

Jonah Samuel Myerberg

Ricardo Fulop

Michael Andrew Gibson

Robert Michael Shydo, Jr

John Gregory Longtine

Michael Cordell Mountz

Michael T Barbehenn

Parris S Wellman

Timothy Aaron Bragg

Ennio Claretti

Peter K Mansfield

Boris Aronchik

Jeremiah David Brazeau

Diane Grieselhuber Mills

Ricardo Chin

Stephen Caldara

Oleksandr Glazkov

John W Cullen

Peter Alfons Schmitt

Patrick R Dingle

William James Watt

Andrew Brenden Tinka

Sean Hugh Breheny

John P Dugan

Emanuel Michael Sachs

Gregory Edward Tierney

James Raymond Allard

Andrew E Hoffman

Dennis Polic

Eryk Brian Nice

Curtis H Nauseda

Sean H Breheny

Support structures are used in certain additive fabrication processes to permit fabrication of a greater range of object geometries. For additive fabrication processes with materials that are subsequently sintered into a final part, an interface layer is formed between the object and support in order to inhibit bonding between adjacent surfaces of the support structure and the object during sintering.

Interface layers for removable supports

Forming an interface layer for removable support

Techniques are disclosed for fabricating multi-part assemblies. In particular, by forming release layers between features such as bearings or gear teeth, complex mechanical assemblies can be fabricated in a single additive manufacturing process.

Printer for the three-dimensional fabrication

Techniques for controlling mobile drive units (e.g., robots) in proximity to humans in a physical area are described. A management device may send an activity message to the mobile drive units instructing the mobile drive units to perform a set of activities. If a human is detected in the physical area, the management device or another mobile drive unit may send an activity command instructing a mobile drive unit to stop, reduce the speed at which it is traveling, to change its path of travel, or to continue performing its set of activities. If the mobile drive units do not receive the activity command, the mobile drive units may stop performing the set of activities. After the management device determines that the human has left the physical area, the management device may resume sending the activity message.

Safety compliance for mobile drive units

A variety of additive manufacturing techniques can be adapted to fabricate a substantially net shape object from a computerized model using materials that can be debound and sintered into a fully dense metallic part or the like. However, during sintering, the net shape will shrink as binder escapes and the base material fuses into a dense final part. If the foundation beneath the object does not shrink in a corresponding fashion, the resulting stresses throughout the object can lead to fracturing, warping or other physical damage to the object resulting in a failed fabrication. To address this issue, a variety of techniques are disclosed for substrates and build plates that contract in a manner complementary to the object during debinding and sintering.

Shrinkable support structures

Support structures are used in certain additive fabrication processes to permit fabrication of a greater range of object geometries. For additive fabrication processes with materials that are subsequently sintered into a final part, an interface layer is fabricated between the object and support in order to inhibit bonding between adjacent surfaces of the support structure and the object during sintering. Interface layers suitable for manufacture with an additive manufacturing system may resist the formation of bonds between a support structure and an object during subsequent sintering processes.

Sinterable article with removable support structures

Support structures are used in certain additive fabrication processes to permit fabrication of a greater range of object geometries. For additive fabrication processes with materials that are subsequently sintered into a final part, an interface layer is formed between the object and support in order to inhibit bonding between adjacent surfaces of the support structure and the object during sintering. The support structure may be a multi-part support structure to mitigate mold lock or facilitate removal from enclosed spaces.

Multi-part removable support structures

Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information can be obtained about constraints relative to relevant elements of a process of transferring the item from place to place. Examples of such elements may include a grasping location from which an item is to be grasped, a receiving location in which a grasped item is to be placed, or a space between the grasping location and the receiving location. The information about the constraints can be used to select from multiple possible grasping options, such as by eliminating options that conflict with the constraints or preferring options that outperform others given the constraints.

Robotic grasping of items in inventory system

A printer fabricates an object from a computerized model using a fused filament fabrication process. The shape of an extrusion nozzle may be varied during extrusion to control, e.g., an amount of build material deposited, a shape of extrudate exiting the nozzle, a feature resolution, and the like.

Fused filament fabrication

In an infrastructure that uses a mobile order fulfillment system, robotic drive units may be dispatched and instructed to bring inventory holders to a workstation where at least one of the inventory holders is packed and prepared for shipment. The robotic drive units are then instructed to move the prepared inventory holder to a transport vehicle such as a truck. Fiducial marks may be removably placed within the transport vehicle to aid navigation of the robotic drive units. At a destination facility, additional robotic drive units may be instructed to move the inventory holders from the truck and place the inventory holders at appropriate storage locations.

Inter-facility transport in inventory management and fulfillment systems

Robotic manipulators may be used to manipulate objects. Manipulation data about manipulations performed on objects may be generated and accessed. This data may be analyzed to generate a profile indicating how an object may be manipulated. A portion of the profile may be transmitted to a particular robotic manipulator. For example, the portion may be based on a manipulation capability of the robotic manipulator. In turn, the robotic manipulator may use the portion of the profile to manipulate the object.

Networked robotic manipulators

Techniques for making a physical area safe for a human to enter when mobile drive units (e.g., robots) are operating in the physical area are described. A management device may send an activity message to the mobile drive units instructing the mobile drive units to perform a set of activities. If a human is detected in the physical area, the management device may stop sending the activity command. If the mobile drive units do not receive the activity command, the mobile drive units may stop performing the set of activities. After the management device determines that the human has left the physical area, the management device may resume sending the activity message.

Short range transmissions are used to identify potential interactions between warehouse workers and warehouse robots in automated warehouses. The robot can be equipped with one or more short range transmission tags, such as radio frequency identification (RFID) tags, while the warehouse worker can be equipped with a short range transmission reader, such as an RFID reader. The robot can detect a warehouse worker that is within range when the RFID tags on the robot are written to by the RFID reader. The warehouse robots and warehouse workers can also be equipped with one or more cameras to identify fiducials in the automated warehouse and to report their positions. A central control or interaction server can ensure that warehouse robots and warehouse workers are routed appropriately to avoid incidents.

Systems and methods to facilitate human/robot interaction

Robotic arms may be utilized to grasp inventory items within an inventory system. Information about an inventory item to be grasped can be detected and used to determine a grasping strategy in conjunction with information from a database. Instructions for grasping an inventory item can be generated based on the detected information and the database.

Generating robotic grasping instructions for inventory items

Growing community of inventors

North Andover, MA, United States of America

Matthew David Verminski