Delta型FDM打印设备结构参数设定及运动学研究OA

The scanning path,printing speed,temperature,layer thickness,and other issues of FDM printing equipment are important factors affecting the process parameters of the shape accuracy and forming efficiency of the parts.As one of the most commonly used structural forms of FDM equipment,the Delta type structure has the movement of the end print head affected by multiple rods,making motion analysis more complicated and adding great difficulty to the parameter setting of the equipment.There are problems with parameter setting and motion analysis.Starting from the Delta type structural analysis,the correlation between the dimensions of each structure is emphasized,and the basis for parameter setting and calculation is summarized.Considering that the correspondence between the print head of the Delta structure and the coordinates of the three pulleys cannot be simply calculated and requires a large amount of trigonometric function operations,the forward and inverse kinematic models of the Delta structure are established,and the solutions for the inverse and forward kinematics are derived in detail using geometric methods.The results of analysis and solution provide a theoretical basis for setting Delta type equipment parameters and determining control program algorithms.After analysis and calculation,the Delta structure based on the parallel mechanism core adopts forward motion solution,which is more convenient to avoid unreasonable results in the forward solution set.