There are 7 main types of Decoration that I have experience with these are:
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IML/IMD
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both can be used for injected plastic components, but IMD is more complex and expensive than IML
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IMD is useful for products with long life such as phone casings while IML is useful for food containers
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both allow 3D patterns to be added to surfaces but once molded it cannot be reworked
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Water Transfer Printing
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patterns can be applied to any 3D surface through the application of a dissolvable film in a pool of water
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used only many 3D-shaped products such as helmets or fairings
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great for 3D surfaces with high resistance, however, each piece is unique so the cost is high and repeatability is not exact
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Laser Etching/Marking/Engraving
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utilizing a laser to burn off surface layers, material, and desired thickness determines the process used
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used on many products such as plastic phone cases, metal laptop casings, or wooden bowls
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requires a fixture to correctly position material and if needed hold it in position
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not suitable for any material and requires extra waste material for trial optimization that will not be usable
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Pad Printing
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uses a flexible silicone 3D pad that compresses to transfer 2D artwork via paint/ink onto a 3D shape
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easily automated but requires heat curing to set
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used on bottles, electronic housings, or metal enclosures to name but a few
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relatively affordable, flexible with colors, and with good reliability it is widely used
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Silkscreen Printing
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only able to print on 2D surfaces it builds up multiple layers of paint and is heat cured to set
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used on fabric panels and flat surfaces such as phone cases
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cheap to produce but can have poor yield and poor reliability, suitable for low-level production
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Heat Press
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used on soft materials it is achieved using a heated metal tool (normally brass), pressure, and time
each pressed material requires different settings and trials to achieve an optimized result -
Embossing/Debossing
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heated tool is pressed onto the material via a protective sacrificial layer to protect the material
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used on Soft Goods, the size is limited as the tool can be easily damaged and too much pressure or heat damages the material
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Color/Foil/Silicone/Foam Transfer
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utilizes the same method as embossing/debossing but an additional layer is placed onto the final product surface
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the transfer is made of layers of the chosen transfer material and bonded through heat
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adding the transfer can have a much higher defect rate and requires lower reliability standards
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Embroidery
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used on soft materials and utilizing stitching to create a pattern on the surface
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requires trial and error to optimize the selection of needles, threads, and machines suitable for the thickness of the material selected
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good reliability but high cost and limited detail as it is limited by the processing method
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The best method depends on the design and its final use along with what material is desired, each method is useful in its own way