机械科学与技术2017，Vol.36Issue(5)：670-678,9.DOI:10.13433/j.cnki.1003-8728.2017.0503
多输出3D打印并联机器人的设计分析与实验
Design and Experimental Analysis of a Multi-output 3D Printing Parallel Robot
摘要
Abstract
We aim to develop a parallel mechanism with four degrees of freedom (DOFs) and design a 3D printing parallel robot,which shares actuated joints and can produce two or more identical products at the same time.Firstly,we analysed the kinematics,work space,Jacobian matrix and singularity of the 4-DOF parallel mechanism and then obtained the optimal design parameters of the 3D printing parallel robot.Secondly,in order to provide basis for the control of the 3D printing parallel robot,we carried out its simulation analysis by planning the motion track of its moving platform to find the real-time positional relationship between the actuated joints and the moving platform.Finally,we did experimental analysis of the designed 3D Printer's control characteristics of the parallel mechanism.The experimental results show that because of the traits of this 4-DOFs parallel mechanism,the control of the 3D printer is easier and the 3D printing parallel robot can produce objects on a sloping surface.Under certain conditions,the production has a higher surface accuracy.关键词
3D打印机器人/并联机构/共驱动/运动学分析/实验分析Key words
3D printing parallel robot/parallel mechanism/actuated joints/kinematics analysis/experiments分类
机械制造引用本文复制引用
常定勇,方跃法..多输出3D打印并联机器人的设计分析与实验[J].机械科学与技术,2017,36(5):670-678,9.基金项目
国家自然科学基金项目(51175029)与北京市自然科学基金项目(3132019)资助 （51175029）
