3-CUR解耦并联3D打印机结构优化与动力学分析

摘要/Abstract

摘要： 以熔融沉积成形3D打印机为研究对象，指出现有3D打印机存在的不足，阐述其输出运动特性，提出将解耦并联机构应用于3D打印机。选取3-CUR解耦并联机构作为3D打印机机械本体，论述其合理性，给出其输入输出间的映射关系，得到机构的运动雅可比矩阵和满足空间连续打印的驱动角范围。以灵巧度为目标，进一步优化了机构的驱动角范围，再以打印空间为优化目标，基于遗传算法得到机构参数的最优值。建立机构输入输出的误差模型，分析机构定位精度并进行误差补偿，最后基于牛顿-欧拉方法建立机构的动力学模型并进行验证，为样机设计提供理论依据。

关键词: 3D打印, 解耦并联机构, 尺寸优化, 定位精度, 动力学

Abstract: Taking a 3D printer of fused deposition modeling as the research object, the shortages of the present 3D printers were pointed out, the output motion characteristics were expounded and a decoupled parallel mechanism would be applied to the 3D printers. Selecting 3-CUR decoupled parallel mechanisms as the mechanical body of 3D printers and discussing its rationality, the mapping relations among inputs and outputs were given, the kinematic Jacobian matrix and the ranges of driving angles that supported continuous printing were obtained. Aimed at dexterity, the ranges of driving angles of the mechanism were optimized. Then aimed at the printing spaces, the genetic algorithm was introduced to get the optimal values of the mechanism parameters. By establishing the error model among inputs and outputs of the mechanism, analyzing the positioning accuracy of the mechanism and compensating the errors, the dynamics model of mechanism was established and verified based on Newton-Euler method, which provides theoretical basis for designs of the prototypes.

Key words: 3D print, decoupled parallel mechanism, size optimization, positioning accuracy, dynamics

中图分类号:

TH112

曾达幸, 张星, 樊明洲, 李晓帆, 侯雨雷. 3-CUR解耦并联3D打印机结构优化与动力学分析[J]. 中国机械工程.

ZENG Daxing, ZHANG Xing, FAN Mingzhou, LI Xiaofan, HOU Yulei. Structure Optimization and Dynamics Analysis of 3-CUR Decoupled Parallel 3D Printers[J]. China Mechanical Engineering.

参考文献

[1]朱艳青, 史继富, 王雷雷, 等. 3D打印技术发展现状[J].制造技术与机床, 2015(12)：50-57.
ZHU Yanqing, SHI Jifu, WANG Leilei, et al. Current Status of 3D Printing Technology[J]. Manufacturing Technology and Machine Tools, 2015(12)：50-57.
[2]李小丽, 马剑雄, 李萍, 等. 3D打印技术及应用趋势[J].自动化仪表, 2014, 35(1)：1-5.
LI Xiaoli, MA Jianxiong, LI Ping, et al. 3D Printing Technology and Its Application Trend[J]. Process Automation Instrumentation, 2014, 35(1)：1-5.
[3]卢秉恒, 李涤尘. 增材制造(3D打印)技术发展[J]. 机械制造与自动化, 2013,42(4)：1-4.
LU Bingheng, LI Dichen. Development of the Additive Manufacturing (3D printing) Technology[J]. Machine Building & Automation, 2013,42(4)：1-4.
[4]孙柏林. 试析“3D打印技术”的优点与局限[J]. 自动化技术与应用, 2013, 32(6)：1-6.
SUN Bolin. An Analysis of the Advantages and Limitations of “3D Printing Technology”[J]. Techniques of Automation & Application, 2013, 32(6)：1-6.
[5]蒋伟辅. 快速成形技术综述[J]. 机械工程与自动化, 2011(6)：214-216.
JIANG Weifu. Summary on Rapid Prototyping[J]. Mechanical Engineering & Automation, 2011(6)：214-216.
[6]谭永生. FDM快速成形技术及其应用[J]. 航空制造技术, 2000(1)：26-28.
TAN Yongsheng. FDM Rapid Prototyping Technology and Its Application[J]. Aeronautical Manufacturing Technology, 2000(1)：26-28.
[7]唐通鸣, 张政, 邓佳文, 等. 基于FDM的3D打印技术研究现状与发展趋势[J]. 化工新型材料, 2015，43(6)：228-230.
TANG Tongming, ZHANG Zheng, DENG Jiawen, et al. Research Status and Trend of 3D Printing Technology Based on FDM[J]. New Chemical Materials, 2015，43(6)：228-230.
[8]吴涛, 倪荣华, 王广春. 熔融沉积快速成形技术研究进展[J]. 科技视界, 2013(34)：94-94.
WU Tao, NI Ronghua, WANG Guangchun. Research Progress of Fused Deposition Rapid Prototyping Technology[J]. Science & Technology Vision, 2013(34)：94-94.
[9]赵萍, 蒋华, 周芝庭. 熔融沉积快速成形工艺的原理及过程[J]. 机械制造与自动化, 2003，32(5)：17-18.
ZHAO Ping, JIANG Hua, ZHOU Zhiting. The Technology Theory and Process for Fused Deposition Modeling Rapid Prototyping[J]. Machine Building & Automation, 2003，32(5)：17-18.
[10]罗晋, 叶春生, 黄树槐. FDM系统的重要工艺参数及其控制技术研究[J]. 锻压装备与制造技术, 2005，40(6)：77-80.
LUO Jin, YE Chunsheng, HUANG Shuhuai. The Study on the Important Technologic Parameters and Their Control of FDM System[J]. China Metal Forming Equipment & Manufacturing Technology, 2005，40(6)：77-80.
[11]额日登布鲁格. 3D打印技术的理论与实践[D]. 北京：中共中央党校, 2015.
Eridengbuluge. Theory and Practice of 3D Printing Technology[D]. Beijing：Party School of the Central Committee of CPC, 2015.
[12]杨明. FDM快速成形机的结构设计及优化研究[D].武汉：华中科技大学, 2009.
YANG Ming. Structural Design and Optimization on FDM Rapid Prototyping Machine[D]. Wuhan：Huazhong University of Science and Technology, 2009.
[13]LIPSON H, KURMAN M. Fabricated：the New World of 3D Printing[M]. Indiana：John Wiley & Sons, 2013.
[14]RANDALL N. 3D System Ships Project SD 3000 for In-office 3DPrinting[J]. Engineering Automation Report, 2008, 17(19)：294-300.
[15]LEMU H G, KURTOVIC S. 3D Printing for Rapid Manufacturing：Study of Dimensional and Geometrical Accuracy[M]. Berlin：Springer, 2012.
[16]OLLIVER V. RepRap: the Replicating Rapid Prototyper: Maximizing Customizability by Breeding the Means of Production[EB/OL].（2010-05-02）.http://reprep.org/wiki/Future Plan.
[17]王君, 孙金风, 游颖, 等. 一种基于Delta并联机械结构的3D打印机：中国，CN104527066A[P]. 2015-04-22.
WANG Jun, SUN Jinfeng, YOU Ying, et al. The 3D Printer Based on Delta Parallel Mechanical Structure：China, CN104527066A[P]. 2015-04-22.
[18]曾达幸, 李晓帆, 邱雪松,等. 新型三平移解耦并联机构的综合[J]. 中国机械工程, 2015, 26(10)： 1279-1283.
ZENG Daxing, LI Xiaofan, QIU Xuesong, et al. Type Synthesis of a Novel Three Degree of Freedom Translational Decoupled Parallel Mechanism[J]. China Mechanical Engineering, 2015, 26(10)：1279-1283.
[19]黄田, 倪雁冰, 王洋, 等. 3-HSS并联机床运动学设计[J].制造技术与机床, 2000(3)：10-12.
HUANG Tian, NI Yanbing, WANG Yang, et al. Kinematic Design of 3-HSS Parallel Machine Tool[J]. Manufacturing Technology & Machine Tool, 2000(3)：10-12.
[20]黄真, 孔令富, 方跃法. 联机器人机构学理论及控制[M]. 北京：机械工业出版社, 1997：1-3.
HUANG Zhen, KONG Lingfu, FANG Yuefa. Theory and Control of Parallel Robot Mechanism[M]. Beijing：Mechanical Industry Press, 1997：1-3.
[21]刘爱荣, 马履中, 杨文亮, 等. 3-PRUR三平移并联机构机器人的精度分析[J]. 机械制造, 2009, 47(2)：27-29.
LIU Airong, MA Lyuzhong, Yang Wenliang, et al. Precision Analysis of 3-PRUR Three Translational Parallel Mechanism Robot[J]. Machinery, 2009, 47(2)：27-29.
[22]刘向东. 3-PRR平面并联机器人运动仿真研究及精度分析[D]. 镇江：江苏科技大学, 2012.
LIU Xiangdong. Motion Simulation and Accuracy Analysis of 3PRR Planar Parallel Robot［D］. Zhenjiang：Jiangsu University of Science and Technology, 2012.