现代制造工程Issue(9)：25-32,65,9.DOI:10.16731/j.cnki.1671-3133.2025.09.004
基于速度平滑和前瞻补偿的六自由度机械臂颗粒料3D打印运动-挤料协同控制方法
Collaborative control method for 3D printing motion-extrusion of six-axis robot arm with granular material based on speed smoothing and forward compensation
刘沁翔 1张秋菊 1孙沂琳2
作者信息
- 1. 江南大学机械工程学院,无锡 214122
- 2. 江苏集萃复合材料装备研究所有限公司,无锡 214171
- 折叠
摘要
Abstract
The existing collaborative control methods for the extrusion and the movement of six-axis robotic arms are mostly fo-cused on filament extrusion methods,while the optimization for granular material extrusion methods is limited.To address the is-sue of motion asynchrony between end-effector motion speed and material extrusion speed in six-axis robotic arm granular material 3D printing,a six-axis robotic arm granular material 3D printer is constructed,and a coordinated control approach for six-axis ro-botic arm granular material 3D printing system based on speed smoothing and look-ahead algorithm is proposed.Optimization is carried out for working conditions such as lifting points,and corner points.The results indicate that the line width of the printed parts is uniform,the material accumulation or missing can be avoided,and the feasibility of this method is verified.关键词
六轴机械臂/3D打印/速度平滑/前瞻补偿/协同控制Key words
six-axis robot arm/3D printing/speed smoothing/forward compensation/collaborative control分类
机械制造引用本文复制引用
刘沁翔,张秋菊,孙沂琳..基于速度平滑和前瞻补偿的六自由度机械臂颗粒料3D打印运动-挤料协同控制方法[J].现代制造工程,2025,(9):25-32,65,9.
