基于内外嵌套并联机构的6自由度多姿态3D打印机设计与分析  

Design and analysis of six-degree-of-freedom multi-pose 3D printer based on inner-and-outer nested parallel mechanism

作　　者：程瑶 许文斌 刘云阳 CHENG Yao;XU Wenbin;LIU Yunyang(School of Mechanical Engineering,Chongqing University of Technology,Chongqing 400050)

机构地区：[1]重庆理工大学机械工程学院,重庆400050

出　　处：《机械设计》2025年第1期62-69,共8页Journal of Machine Design

基　　金：国家自然科学基金资助项目(51505052,51505053);重庆市教委科学技术研究资助项目(KJ1500935)。

摘　　要：针对目前熔融沉积(FDM)型3D打印机无法实现多姿态打印的问题,文中设计了一种基于内外嵌套并联机构的6自由度多姿态3D打印机,并对其进行运动学分析。该3D打印机以内嵌套(3-PSSSS)和外嵌套(3-PRS)并联机构为主体,末端执行器在内并联机构直接控制和外并联机构间接控制下实现多姿态打印。基于螺旋理论,分别分析内外并联机构的自由度,再整合分析内外嵌套并联机构的自由度,验证其具有四平动二转动的6自由度运动特性。利用解析矢量法建立并联机构的逆解运动学模型,并对支链运动进行分析,阐明了驱动移动副对支链连杆和下动平台的作用;利用运动学仿真分析软件进行仿真,通过分析仿真中下动平台标记点的轨迹和运动学数据,验证了该机构应用于3D打印机多姿态打印方案的可行性。内外嵌套并联机构具有多姿态转角和良好运动学特性,解决了3D打印机多姿态打印的问题,为基于嵌套并联机构的3D打印机多姿态打印问题提供了一种可行的方案。Currently,the fused deposition modeling(FDM)3D printers cannot achieve multi-pose printing.In this article,efforts are made to develop a six-degree-of-freedom multi-pose 3D printer based on an inner-and-outer nested parallel mechanism,and then the 3D printer is subject to the kinematic analysis.The 3D printer is mainly composed of an inner(3-PSSSS)and outer(3-PRS)nested parallel mechanism;its end effector is directly controlled by the inner parallel mechanism and indirectly controlled by the outer parallel mechanism,in order to achieve multi-posture printing.Based on the spiral theory,the analysis is conducted on the inner and outer parallel mechanisms’degrees of freedom separately,and then the inner-and-outer nested parallel mechanism’s degrees of freedom are integrated,in order to verify the six-degree-of-freedom motion characteristics of four translational and two rotational movements.The analytic vector method is used to set up the inverse kinematic model of the parallel mechanism;the analysis is carried out the branch chain’s motion;the effect of the driving mobile pair on the branch chain’s link and the downward moving platform is elucidated.The kinematic analysis software is used for simulation;a series of simulation experiment are conducted on the trajectory and kinematic data of the downward moving platform’s marked points;it is verified that it is feasible to apply this mechanism into the scheme of multi-pose 3D printing.The inner-and-outer nested parallel mechanism has multi-pose angles and good kinematic characteristics.As a result,the problem of multi-pose 3D printing is solved.This study provides a feasible solution for multi-pose 3D printing based on nested parallel mechanisms.

关 键 词：内外嵌套并联机构 6自由度 运动学模型 多姿态3D打印机 

分 类 号：TH122[机械工程—机械设计及理论]