基于3D打印技术的并联机器人机构精度分析

针对3D打印快速成型技术的性能需求,提出了一种基于3-UPU型三自由度3D打印并联机器人。对其中的3-UPU并联机构进行了运动学分析,在此基础上建立误差正解模型,考虑驱动副杆长误差和铰链间隙误差的影响因素,运用Monte-Carlo法分析了动平台末端精度的频数分布,求得了许用精度范围内的置信概率,为提高3D打印并联机器人机构末端的输出精度提供了重要依据,在生产制造业快速发展的主流技术中具有重要的研究意义与应用推广价值。

Analysis on Precision of Parallel Robot Mechanism Based on 3D Printing Technology

In view of the performance requirements of three dimensional ( 3D) printing rapid prototyping technology , a kind of 3D print parallel robot based on a 3-UPU three degrees of freedom (3-DOF) type is proposed.The kinematics analysis of 3-UPU paral-lel robot manipulator was carried out , and the error direct model of the parallel mechanism was established with considering the effects between the elastic deformation errors of driving rod length and the backlash error of hinge .The frequency distribution of the moving platform end in precision was analyzed by using the Monte-Carlo method and required probability of the allowable precision in respect was obtained, which provide the important theoretical basis to improve the end output precision of the 3D print robot of parallel mecha-nism.The mainstream technology in the manufacturing industry , has important research significance and application promotion value for the rapid development .