基于Smoothieware的双臂SCARA型3D打印机设计

Design of a Dual-arm SCARA 3D Printer Based on Smoothieware

本文设计一种新型双臂SCARA型机械臂机构的3D打印机,对该打印机进行运动学原理分析以及轨迹规划,建立运动模型,求出运动学方程的正、逆解,同时对3D打印Smoothieware开源固件进行二次开发,修改固件的运动轨迹算法程序,并将其移植到该打印机中,使其对运动系统进行精确控制,最后通过整机调试,使得该结构的3D打印机满足精度要求。

In this study, a new 3 D printer with a dual-arm SCARA manipulator mechanism is designed.The kinematics principle analysis and trajectory planning of the printer are carried out, the motion model is established, and the forward and inverse solutions of the kinematics equation are obtained.At the same time, the open source firmware of 3 D printing smoothieware is redeveloped, the motion trajectory algorithm program of the firmware is modified, and it is transplanted into the printer to make it accurately control the motion system.Finally, through the debugging of the whole machine, the 3 D printer with this structure meets the accuracy requirements.