中国机械工程2017，Vol.28Issue(5)：505-511,7.DOI:10.3969/j.issn.1004-132X.2017.05.001
面向多向3D打印的混联机构及其运动分析
Hybrid Kinematics Mechanisms and Its Kinematic Analysis Oriented to Multi 3D Printing
摘要
Abstract
In order to solve the bottleneck problems of multi 3D printing equipment,a fully-decoupled five degree of freedom (5-DOF)HKM was presented as the actuator of 3D printing.HKM consisted of 3-CPa RR parallel module and RRo serial module,and the parallel module consisted of three identical CPa RR limb chains,it might realize three-dimensional translations,the serial module RRo was used to adjust the print head posture,improve 3D printing process step phenomenon and in-terference problems.Screw theory was applied to analyze the kinematic characteristics of mechanisms and to calculate the degrees of freedom of 3CPa RR&RRo which were verified via the ADAMS soft-ware.The kinematic matrix of the hybrid mechanisms was carried out by using the D-H convention. The expression of the forward kinematics was deduced to obtain the Jacobian matrix and velocity equa-tions,and the analysis of singularity was carried out.Moreover,simulation model was built with AD-AMS,the velocities of the end-effectors of mechanisms were drawn.Thus,the validity of the theo-retical analyses was proved.关键词
多向3D打印/混联机构/完全解耦/螺旋理论/运动学Key words
multi 3D printing/hybrid kinematics mechanism (HKM)/fully decoupled/screw theory/kinematics分类
机械制造引用本文复制引用
周辉,丁锐,秦友蕾,曹毅..面向多向3D打印的混联机构及其运动分析[J].中国机械工程,2017,28(5):505-511,7.基金项目
国家自然科学基金资助项目(50905075) （50905075）
江苏省六大人才高峰项目(ZBZZ-012) （ZBZZ-012）
机械系统与振动国家重点实验室开放课题资助项目(MSV201407) （MSV201407）
