Design and Analysis of Beveled 3D Printed Parallel Robots
In this paper,a new type of 3 RP-3 RPR five degree of freedom parallel robot is proposed.Based on this parallel mechanism,a fast response 3D printing parallel robot with multiple angles is designed.Firstly,based on the analysis of the kinematic characteristics of the mechanism based on the screw theory,the degree of freedom of the mechanism is obtained and verified.Then the kinematics of the parallel robot is analyzed,and the forward and inverse kinematics solutions of the mechanism are obtained.And then the motion of the printing mechanism is simulated and analyzed by ADAMS software,and the moving platform motion curve of the printing mechanism is obtained.The results showed that the mechanism can achieve 5 degrees of freedom of motion without interference during the motion.Finally,based on the hierarchical search method,the inverse kinematics solution is substituted into the MATLAB software to get the position and attitude space of the mechanism.The calculation results show that due to the particularity of the mechanism structure,the workspace is large,the shape is regular and there is no hole.The analysis shows that the printing robot can print in the place with large horizontal inclination angle,and this study provides a theoretical basis for the design and optimization of the mechanism.
万方数据
维普
