五自由度3D打印并联机器人设计及分析

摘要/Abstract

摘要： 为实现多向3D打印，设计了一种新型五自由度3D打印并联机器人，该机器人具有两个转动自由度和三个平动自由度，其特点是采用铰接的动平台以获得大的工作空间。根据建立的运动学模型，计算了该机器人机构的运动学反解，分析了定姿态位置工作空间和定位置姿态工作空间，用螺旋理论方法建立了速度雅可比矩阵，在此基础上分析了五自由度3D打印并联机器人的奇异性、灵巧性，并进行了运动仿真分析。研究结果表明，所设计的五自由度3D打印并联机器人具有大的位置工作空间和姿态工作空间，该机器人在工作空间内存在奇异位置，通过添加冗余驱动后可以消除奇异位置，并且具有良好的灵巧性，适合多向3D打印。

关键词: 多向3D打印, 并联机构, 大工作空间, 奇异性, 冗余驱动

Abstract: The design of a novel parallel mechanism for multi-directional 3D printing with five DOF including three translational DOF and two rotational DOF was presented. Its characteristic was that the machine adopted a articulated moving platform to achieve larger workspace. According to the established kinematics model, the inverse kinematics was calculated, the position workspace and the orientation workspace were analyzed, and the velocity Jacobian matrix was established based on screw theory. Kinematic performances, such as singularity and dexterity were analyzed based on the computed Jacobian, the motion simulation was also analyzed. The results show that the 3D printing parallel robot has larger position workspace and the orientation workspace. Although singular location existed, it might be eliminated by means of actuation redundancy and the results prove that the mechanism has better dexterity and is suitable for multi-directional 3D printing.

Key words: multi-directional 3D printing, parallel mechanism, larger workspace, singularity, actuation redundancy

中图分类号:

TH112

潘英, 方跃法, 汪丛哲. 五自由度3D打印并联机器人设计及分析[J]. 中国机械工程.

Pan Ying, Fang Yuefa, Wang Congzhe. Design and Analysis of Five DOF 3D Printing Parallel Robot[J]. China Mechanical Engineering.

参考文献

[1]胡迪·利普森,梅尔芭·库曼.3D打印从想象到现实[M]. 赛迪研究专家组,译.北京:中信出版社，2013.

[2]Johannes G, Emanuel P, Michael Z. Powder-bed-based 3D-printing of Function Integrated Parts[J]. Rapid Prototying Journal, 2015,21(2):207-215.

[3]Chen Y, Zhou C, Lao J. ALayerless Additive Manufacturing Process Based on CNC Accumulation[J]. Rapid Prototyping Journal, 2011, 17(3): 218-227.

[4]Zhao Xuejin, Pan Yayue, Zhou Chi. An Integrated CNC Accumulation System for Automatic Building-around-inserts [J]. Journal of Manufacturing,2013,15(4):432-443.

[5]Singh P, Moon Y, Dutta D, et al. Design of a Customized Multi-directional Layered Deposition System Based on Part Geometry[C]//Annual Solid Freeform Fabrication Symposium. Austin, TX, USA，2003: 4-6.

[6]Lee W, Wei C, Chung S C. Development of a Hybrid Rapid Prototyping System Using Low-cost Fused Deposition Modeling and Five-axis Machining[J]. Journal of Materials Processing Technology, 2014, 214(11): 2366-2374.

[7]Keating S, Oxman N. Compound Fabrication: a Multi-functional Robotic Platform for Digital Design and Fabrication[J]. Robotics and Computer-integrated Manufacturing, 2013,29(6)：439-448.

[8]Daniel G, Bastian H, Franz J G. Continuous 3D-printing for Additive Manufacturing[J]. Rapid Prototying Journal,2014,20(4): 320-327.

[9]Song Xuan, Pan Yayue, Chen Yong. Development of a Low-cost Parallel Kinematic Machine for Multidirectional Additive Manufacturing[J]. Journal of Manufacturing Science and Engineering—Transaction of the ASME,2015,137(2)：021005.

[10]方斌,李剑锋,卿建喜,等.同构支链H4并联机构的奇异性分析[J].机械工程学报,2010,46(21):42-47.

Fang Bin, Li Jianfeng, Qing Jianxi, et al. Singularity Analysis of the H4 Parallel Mechanisms with Isomorphic Sub-chains[J]. Journal of Mechanical Engineering, 2010, 46(21):42-47.

[11]Gallardo-Alvarado J, Ramírez-Agundis A, Rojas-Garduo H, et al. Kinematics of an Asymmetrical Three-legged Parallel Manipulator by Means of the Screw Theory[J]. Mechanism and Machine Theory, 2010, 45(7): 1013-1023.

[12]Gosselin C，Angeles J.Singularity Analysis of Closed-loop Kinematic Chains[J]. IEEE Transaction on Robotics and Automation,1990，6(3)：281-290.

[13]Zanganeh K E, Angeles J. Kinematic Isotropy and the Optimum Design of Parallel Manipulators[J]. The International Journal of Robotics Research, 1997, 16(2): 185-197.

[14]于靖军,刘辛军,丁希仑,等.机器人机构学的数学基础[M].北京:机械工业出版社，2008.

[15]刘辛军.并联机器人机构尺寸与性能关系分析及其设计理论研究[D].秦皇岛：燕山大学,1999.