一种悬臂式3D打印机器人的路径规划研究  

Research on Path Planning of a Cantilever 3D Printing Robot

作　　者：韩兴国 李天明[1] 崔立秀 陈海军 殷国富[2] HAN Xing-guo;LI Tian-ming;CUI Li-xiu;CHEN Hai-jun;YIN Guo-fu(School of Mechanical Engineering,Guilin University of Aerospace Technology,Guilin Guangxi 541004,China;School of Manufacturing Science and Engineering,Sichuan University,Chengdu 610065,China)

机构地区：[1]桂林航天工业学院机械工程学院,广西桂林541004 [2]四川大学制造科学与工程学院,成都610065

出　　处：《组合机床与自动化加工技术》2018年第3期135-139,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51275060);广西高校中青年教师基础能力提升项目(KY2016YB535);广西高校机器人与焊接重点实验室开放课题基金资助项目(JQR2015ZR04)

摘　　要：针对目前3D打印装置结构单一和打印空间小的的缺点,研制了一台悬臂式3D打印机器人。运用D-H(Denavit-Hartenberg)法建立连杆坐标系,根据齐次坐标变换,建立机器人正运动学方程,求取机器人末端打印喷头相对于世界坐标系的位姿。采用代数法进行逆运动学求解,通过控制各关节变量,实现3D打印机器人各轴联动,驱动打印头在3D打印平台上按照指定轨迹实现3D打印功能。该3D打印机器人具有多角度多工位打印的特点,并能够在工作现场打印零件。对3D打印的路径进行规划,提出了一种基于蚁群算法和改进的近邻法进行轮廓路径规划的方法,并运用该方法在悬臂式3D打印机器人实验平台上进行了零件打印实验。与传统的zigzag法和repetier-host法比较,单层的轮廓路径长度分别缩短了19.5%和14.7%,打印时间缩短了12.6%和8.8%,结果表明,该路径规划方法的打印效率更好。In view of faults of the current 3D printing devices such as the single structures and the little printing space,a cantilever 3D printing robot was developed.The link coordinate systems were set up by the D-H(Denavit-Hartenberg)method.In accordance with homogeneous coordinate transformation,forward kinematics equation was set up and position and orientation of the printing head installed on robot end effector in world coordinate system was obtained.The inverse kinematics solution was solved by the algebraic method.Through controlling the joint variables,the function of the axis linkage can be realized and the print head can be drove to finish printing process according to the specified path at the 3D printing platform.The robot possesses the printing characteristics of different station and multiple perspectives and can print parts at the work site.Furthermore,3D printing path was planned and a scanning path planning method based on ant colony algorithm and modified nearest neighbor method was presented.The experiment of printing parts was done by means of this path planning method at the cantilever 3D printing robot platform.Compare with the traditional zigzag method and repetier-host method,contour path scanning length of the single layer was decreased by 19.5%and 14.7%respectively,and the printing time was decreased by 12.6%and 8.8%.The result showed that the efficiency of the path planning method was higher.

关 键 词：3D打印 机器人 路径规划 蚁群算法 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]