基于3D打印技术的并联机器人机构的动力学研究

针对3D打印快速成型技术的性能需求,提出了一种基于3-PUU型三自由度3D打印并联机器人。对其中的3-PUU并联机构进行了运动学分析,求解出该并联机构的位置逆解方程;利用"S型曲线加减速"规划算法对该机构的运动轨迹进行了运动规划,建立了基于SimMechanics的3-PUU并联机构动力学模型;通过PID控制器对其进行了动力学仿真,得到了在规划轨迹下该并联机构中各个支链的位移、速度、加速度以及支链驱动力曲线。分析表明:该并联机构具有很好的运动以及动力学性能,可以作为3D打印技术中对汽车、飞机、医疗器械零部件的打印。

Research on the Dynamics of Parallel Robot Manipulator Based on 3D Printing Technology

In view of the performance requirements of 3D printing rapid prototyping technology, a kind of 3D print based on a 3-PUU type three degrees of freedom was proposed.The kinematics of 3-PUU parallel robot manipulator was carried out to solve the inverse equation of the parallel manipulator, and the motion trajectory was planned by using "S type curve deceleration" algorithm, then the 3-PUU parallel manipulator dynamics model was established based on SimMechanics.The dynamic simulation of the parallel mechanism was carried by PID controller, and each branch chain of displacement, velocity, acceleration and driving force curves were obtained under the planning trajectory.The research shows that the parallel mechanism has good movement and dynamics performance, it can be used as automobile, aircraft, medical appliance parts of prints, the mainstream technology in the manufacturing industry.