多输出3D打印冗余并联机器人的设计与分析

中国机械工程 ›› 2015, Vol. 26 ›› Issue (12): 1595-1602.

多输出3D打印冗余并联机器人的设计与分析

常定勇;方跃法

北京交通大学，北京，100044

出版日期:2015-06-25 发布日期:2015-06-29
基金资助:
国家自然科学基金资助项目（51175029）；北京市自然科学基金资助项目（3132019）
National Natural Science Foundation of China（No. 51175224）;
Natural Science Foundation of Beijing（No. 3132019）

Design and Analysis of a Multiple Output 3D Printing Redundant Parallel Manipulator

Chang Dingyong;Fang Yuefa

Beijing Jiaotong University,Beijing,100044

Online:2015-06-25 Published:2015-06-29
Supported by:

National Natural Science Foundation of China（No. 51175224）;
Natural Science Foundation of Beijing（No. 3132019）

摘要/Abstract

摘要：

设计了一种新型多输出3D打印机器人，该机器人机构以Delta并联机构为主构型，以Stewart并联机构为辅助构型，在末端执行器上布置多个打印头，实现多输出。根据建立的运动学模型，分析了该机器人机构的运动学反解，得到速度雅可比矩阵，解得各驱动关节的速度和加速度。给定动平台的运动轨迹，仿真分析了机构的运动协调性，并对机构的灵巧性与静刚度进行了分析。

关键词: 3D打印机器人, 并联机构, 雅可比矩阵, 灵巧性, 静刚度

Abstract:

A multiple output 3D printing robot was designed. The main configuration of this robot was Delta parallel manipulator, the Stewart parallel manipulator was served as an auxiliary configuration. In order to achieve multiple output ability, more extruders on the end effector of the robot were arranged. Based on the established kinematics model, the inverse kinematics of the proposed redundant parallel manipulator was analyzed and the velocity Jacobian matrix was obtained. Then, the velocity and acceleration of each actuated joint were solved.The motion coordination of the mechanism with a prescribed motion trajectory was analyzed, which was based on the simulation model. In addition, dexterity and static stiffness of the mechanism were analyzed.

Key words: 3D printing robot, parallel manipulator, the Jacobian matrix, dexterity;static stiffness

中图分类号:

TH112

常定勇;方跃法. 多输出3D打印冗余并联机器人的设计与分析[J]. 中国机械工程, 2015, 26(12): 1595-1602.

Chang Dingyong;Fang Yuefa. Design and Analysis of a Multiple Output 3D Printing Redundant Parallel Manipulator[J]. China Mechanical Engineering, 2015, 26(12): 1595-1602.

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