三自由度机械臂增材制造装置及控制系统设计

Design of the 3-DOF Manipulator Additive Manufacturing Device and Control System

针对传统增材制造装置结构单一和打印空间有限的问题,开发了一种三自由度机械臂熔融沉积式增材制造装置。对该装置进行三维建模,其主要包含1个转动关节和2个移动关节,采用θ、ρ和z作为该装置旋转运动、水平运动和垂直运动的参量,基于圆柱坐标系进行运动建模和运动分析。选用倍福控制器C6920作为三自由度机械臂熔融沉积增材制造装置的控制系统,基于TwinCAT软件进行人机交互界面的开发,采用G代码编写各轴的联动程序,将传统的基于笛卡儿直角坐标系的直线插补转化为基于圆柱坐标系下的插补运算。最后,在三自由度机械臂熔融沉积式增材制造样机上进行了零件打印实验。与传统台式熔融沉积式增材制造装置相比,打印零件在尺寸精度和表面质量方面显著提高。

Aiming at solving the problem of the conventional additive manufacturing device such as single structure and limited printing space,a 3-DOF manipulator fused deposition additive manufacturing device was developed.The three-dimensional model of the device was drawn,which mainly included one rotating joint and two moving joints.θ,ρand z were respectively chosen as the parameters of the rotational,horizontal and vertical motion for the device.The motion modeling and motion analysis were carried out based on cylindrical coordinate system.The Beckhoff controller C6920 was selected as the control system for the 3-DOF manipulator fused deposition additive manufacturing device.The human-computer interaction interface was developed based on TwinCAT software.The traditional linear interpolation based on Cartesian coordinate system was transformed into interpolation operation based on cylindrical coordinate system by using G code to write the linkage program of each axis.At last,some parts were printed on the 3-DOF manipulator fused deposition additive manufacturing device.Compared with the traditional desktop fused deposition additive manufacturing device,the dimensional accuracy and surface quality of printed parts on this device were improved.