悬臂式3D打印机器人运动分析与打印实验

Cantilever 3D printing and printing robot motion analysis experiment

针对目前3D打印装置结构单一和打印空间小的的缺点,研制了一台悬臂式3D打印机器人。运用D-H（Denavit-Hartenberg）法建立连杆坐标系,根据齐次坐标变换,建立机器人正运动学方程,采用代数法进行逆运动学求解,通过控制各关节变量,驱动打印头在3D打印平台上按照指定轨迹实现3D打印功能,并在悬臂式3D打印机器人实验平台上进行了零件打印实验,结果表明：所设计的悬臂式3D打印机器人能够准确、有效的按照规划路径执行相应轨迹运动,表面无翘曲和变形产生,打印零件质量和精度较高。

In view of faults of the current 3D printing devices such as the single structure and the little printing space, a cantilever 3D printing robot was developed. The link coordinate systems were set up by the D-H （ De- navit-Hartenberg） method. In accordance with homogeneous coordinate transformation, the forward kinematics e- quation was set up and the inverse kinematics solution was solved by the algebraic method. Through controlling the joint variables, the printer head could be driven to finish printing process according to the specified path at the 3D printing platform. The experiments of printing parts were clone at the cantilever 3D printing robot platform. The result showed that cantilever 3D printing robot could execute the corresponding motion trajectory accurately and effectively according to the planned path without warping and deformation, and the quality and accuracy of the printing part were better.