KRAKEN: the all-in-one fully integrated machine formulti-material hybrid manufacturing

The project has received funding from the European
Union's Horizon 2020 research and innovation
programme under grant agreement No 723759.

ABOUT KRAKENKRAKEN is an EU funded project that has developed an
automated, robotic machine for hybrid multi-material
manufacturing combining both subtractive and novel additivetechnologies. Capable of producing parts of up to 20-metrelong, the KRAKEN machine has automaticallyinterchangeable additive and subtractive heads,
the capacity to achieve high quality and accurate
results including internal and difficult-to-reachareas, and effective control over thermal stressand deformation.

PROJECT RESULTS
Multi-material Additive Manufacturing
New polyurethane paste (ALCHEMIX PU3720A/B)
A new two component machine-dispensable polyurethane paste (ALCHEMIXPU3720A/B) adapted to Additive Manufacturing has been developed within theKRAKEN project. The material is particularly suitable for the manufacture ofdesign/styling or master models. The formulation allows the building of large
prototype models within a footprint of 20m x 8m x 6m. This new paste has been
designed to cure rapidly to allow a high deposition rate of 180 Kg per hour. Once
cured it can be easily machined to give a very smooth surface finish.

New resin extrusion process
As part of the KRAKEN project a new dedicated resin extrusion process has beendeveloped. The system consists of a pumping mechanism for the new polyurethane
paste, a balanced mixing system, a deposition head and an automatic flow control.
The system is able to reach a deposition rate of 120 kg/h, which is around 200
times faster than a conventional additive manufacturing machine. This is a scalable
system, capable of being assembled in 3-axis machines and in industrial robots.

Wire arc Additive manufacturing(WAAM)The KRAKEN machine integrates Wire
Arc Additive Manufacturing withaluminium grades that can reach metal
deposition rates of up to 1.5 l/h,depending on the geometry of the part.

Metallisation process
An arc spray metallisation process basedon metal alloys has also been developed.
This metallization process enables theuse of metal Additive Manufacturing on
top of a polymer part. This new process,which can reach deposition rates of6kg/h, opens new pathways forinnovation in metallisation.

Subtractive manufacturing
The KRAKEN machine has a hybrid additive-subtractive head with automatic quick
tool exchange which allows for a quick switch between additive deposition ofmaterial and subtractive operations.
The project has adapted the subtractive process based on a climb-up methodology
specially designed for planar layer-by-layer and direct 3D freeform production
strategies. It targets 2mm depth of cut and 10m/min speed.

CAM (Computer Aided Manufacturing) software for hybridmanufacturing
The existing commercial software solution, EDGECAM has been used as
the base system for the CAM developments within KRAKEN. Functionality
has been enhanced and new CAM algorithms for hybrid manufacturing,
including planar horizontal layer additive strategies and new direct 3D
freeform approaches, have been integrated. The new system has an intuitiveand simple user interface and allows for the generation, automation andsimulation of manufacturing tasks for hybrid manufacturing.

Real-time control and monitoring
Real-time control
The high accuracy of the KRAKEN machine is achieved through a closed-loop
control of robot motion and end-effector position and orientation (6DoF) in realtime based on absolute laser tracking. The position of the head is monitored andcontrolled with a frequency of 1000 Hz with an accuracy of 0.1 millimetres over20-metre parts. The machine also relies on an automatic calibration system basedon absolute laser tracking.

Quality Monitoring systems
The KRAKEN machine includes a laser tracker-based scanner allowing for inprocess geometry validation of semi-finished and finished parts.
In addition, a vision-based monitoring system helps to analyse the surface quality
during the resin extrusion process. This system comprises both hardware andsoftware including high-definition cameras that complement a stereoscopic machine
vision system, as well as image acquisition, processing and control software able
to detect defects in the resin deposition process.
These quality monitoring systems allow for early failure detection and correction,
leading to significant reductions in operator and machine time, material waste andtotal effort spent to print different components and products.

E-learning platform
The project has also developed an e-Learning platform with comprehensive
information on hybrid and additive manufacturing processes and the KRAKENmachine. This online platform is a resource for further developing anddisseminating design, engineering and manufacturing knowledge andexpertise in hybrid manufacturing. It is an important tool aiming at overcoming
existing barriers in modern industrial production.
The platform can be accessed for free at the following website:krakenproject.eu/elearning

DEMONSTRATION CASESThe KRAKEN system has been validated through a series of demonstration
cases. Sectors that can potentially benefit from the adoption of this technology
and the project results include aerospace, automotive, power generationand energy, industrial equipment and tooling, shipbuilding, construction andthe creative industries.
Hybrid lining panels for tunnels

Hybrid lining panels for road tunnels have been manufactured with theKRAKEN machine for ACCIONA Construction. KRAKEN multi-material
capability has allowed to embed, into a monolithic part, auxiliary elements
such as electrical wiring for the emergency lighting and metal profiles forpanels assembly, which can help speed up the installation process. Its
flexibility and simpler setup compared to current technology provide analternative for the manufacture of short series and parts with complex
geometries.

Mock-up of a Pininfarina car design

The KRAKEN technology was used to reproduce the exterior style of theCambiano, a recent Pininfarina showcar. The model has been manufactured
in 1:2 scale by the KRAKEN machine and then finished by Pininfarina withother exterior features. Equipped with a structural frame, the hollow
demonstration case should be a promising alternative to the manufactureof style models in the near future.

Aluminium metallic back and front frames for a carCRF validated the KRAKEN technology by manufacturing the back andfront metallic frames of an Alfa Romeo 4C. The KRAKEN technology
provided a new solution integrating large material quantities deposition andhybridization between polymeric and metallic parts, currently not achievablewith other AM technologies. Within KRAKEN, CRF demonstrated the good
performances of both polymeric and metallic materials that are suitable for
automotive applications even for large area components. This will allow toreduce drastically investment costs with a positive business case even for
medium volumes.

BENEFITS OF THE KRAKEN MACHINEThe KRAKEN machine offers the following advantages in relation to othertechnologies:• 90% less floor space thanks to the use of a ceiling installation and thereduction of necessary workplaces.
• 40% faster thanks to the high deposition rates of the resin extrusion
process and WAAM and the integration of the milling and finishing ina single machine.
• The KRAKEN machine is an affordable solution with a lower price thancurrent equipment and solutions for the production of final parts forthe production of large customized functional parts.
• 25% more productive thanks to the accuracy achieved through realtime path programming and control and real-time monitoring andgeometry inspection.

PARTNERSCONTACT
José Antonio Dieste

Project Coordinator
AITIIP Technology Centre
E-mail: joseantonio.dieste@aitiip.com
Phone: +34 976 46 45 44
Website: www.krakenproject.eu
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