面向多向3D打印的混联机构及其运动分析  

Hybrid Kinematics Mechanisms and Its Kinematic Analysis Oriented to Multi 3D Printing

作　　者：周辉[1,2] 丁锐[1,2] 秦友蕾 曹毅[1,2] ZHOU Hui1 2 DING Rui1

机构地区：[1]江南大学机械工程学院,无锡214122 [2]江南大学江苏省食品先进制造装备技术重点实验室,无锡214122

出　　处：《中国机械工程》2017年第5期505-511,共7页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50905075);江苏省六大人才高峰项目(ZBZZ-012);机械系统与振动国家重点实验室开放课题资助项目(MSV201407)

摘　　要：为解决多向3D打印装备瓶颈问题,提出一种完全解耦五自由度混联机构作为3D打印的执行机构,该机构由并联模块3-CP_aRR和串联模块RRo组成,其中并联模块由3条相同CP_aRR支链构成,可实现空间的三维移动,串联模块RRo用于调整打印头姿态,改善3D打印过程中的台阶现象、干涉问题。基于约束螺旋理论,分析了3CP_aRR&RRo机构自由度,并通过ADAMS建模对其进行了验证。然后运用D-H法求得混联机构的运动学方程,对机构的位姿正解表达式求导,得到了机构的雅可比矩阵和末端速度方程,分析了机构在工作空间内的奇异性问题,通过对模型运动仿真,绘制出了机构末端输出速度曲线,验证了上述分析的正确性。In order to solve the bottleneck problems of multi 3D printing equipment, a fully- decoupled five degree of freedom （5-DOF） HKM was presented as the actuator of 3D printing. HKM consisted of 3-CPoRR parallel module and RRo serial module, and the parallel module consisted of three identical CPaRR limb chains, it might realize three-dimensional translations, the serial module RRo was used to adjust the print head posture, improve 3D printing process step phenomenon and in- terference problems. Screw theory was applied to analyze the kinematic characteristics of mechanisms and to calculate the degrees of freedom of 3CPa RRaRRo which were verified via the ADAMS soft- ware. The kinematic matrix of the hybrid mechanisms was carried out by using the D-H convention. The expression of the forward kinematics was deduced to obtain the Jacobian matrix and velocity equa- tions, and the analysis of singularity was carried out. Moreover, simulation model was built with AD- AMS, the velocities of the end- effeetors of mechanisms were drawn. Thus, the validity of the theo- retical analyses was proved.

关 键 词：多向3D打印 混联机构 完全解耦 螺旋理论 运动学 

分 类 号：TH112[机械工程—机械设计及理论]