SCARA手臂式3D打印机的设计与实现

发布时间：2018-04-29 03:35

本文选题：SCARA机器人 + 平面关节机器人　；参考：《天津工业大学》2017年硕士论文

【摘要】：近年来引领全球制造业全新变革的技术,3D打印技术迅速发展,彻底影响了制造业的生产方式,已在工业生产及人们生活中得到广泛应用。但是,目前的3D打印机大多采用龙门式框架结构,设备体积较大,不方便携带。SCARA机器人,即平面关节型机器人,由于其具有体积小、传动原理简单、平面内运动柔性强等特点,应用于3D打印技术中,将使3D打印技术实现便携式,具有较高的学术和实用价值。本文根据平面关节型SCARA机器人的技术,采用模块化设计理念,设计了 SCARA手臂式3D打印机。首先,针对3D打印的工作需求,完成了手臂式3D打印机的整体结构设计方案,包括各个机械臂的结构组成和传动系统。利用Solidworks软件设计出了机器人的结构,选择同步带进行动力的传输,初步完成机械系统的设计。并对3D打印机上位机控制软件repetier-host进行了介绍。其次,对SCARA平面关节型机器人进行运动学分析,建立平面关节型机器人的运动学模型,运用D-H法对模型进行运动学分析,推导出正逆运动学变换公式。选择合适的轨迹规划方法,通过调整位移、速度、加速度使手臂各关节位置变化连续、平滑、运动平稳,并能达到精度要求。再次,设计3D打印机的运动控制系统,选择高性能的微控制器作为控制系统主芯片,通过合适的算法程序对3D打印机的运动系统和加热系统进行更加精确的控制,以实现手臂式3D打印机的整体控制。最后,通过整机测试,完善SCARA手臂式3D打印机的各项功能,总结SCARA平面关节型机器人在3D打印领域的重要作用,以及对SCARA手臂式3D打印机的发展趋势进行展望。
[Abstract]:In recent years, the technology of 3D printing, which has led the new revolution of global manufacturing industry, has developed rapidly, which has completely influenced the production mode of manufacturing industry, and has been widely used in industrial production and people's daily life. However, at present, most 3D printers use gantry frame structure, the equipment is large, and it is not convenient to carry .SCARA robot, that is, planar joint robot, because of its small volume, simple transmission principle, strong flexibility of in-plane motion and so on. Application in 3D printing technology will make 3D printing technology portable and has high academic and practical value. According to the technology of planar joint SCARA robot, a SCARA arm 3D printer is designed in this paper. Firstly, according to the requirement of 3D printing, the whole structure design of arm 3D printer is completed, including the structure composition and transmission system of each manipulator. The structure of the robot is designed by using Solidworks software, and the synchronous belt is selected for power transmission, and the design of the mechanical system is preliminarily completed. The control software repetier-host of 3 D printer is introduced. Secondly, the kinematics analysis of SCARA planar joint robot is carried out, and the kinematics model of planar joint robot is established. The kinematics analysis of the model is carried out by using D-H method, and the forward and inverse kinematics transformation formula is deduced. By adjusting displacement, velocity and acceleration, the position of each joint of the arm can be changed continuously, smoothly, smoothly and smoothly, and the precision can be achieved. Thirdly, the motion control system of 3D printer is designed, the high performance microcontroller is selected as the main chip of the control system, and the motion system and heating system of 3D printer are controlled more accurately by appropriate algorithm program. In order to achieve the arm-type 3D printer overall control. Finally, the functions of SCARA arm 3D printer are improved through the whole machine test, the important role of SCARA planar joint robot in 3D printing field is summarized, and the development trend of SCARA arm 3D printer is prospected.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;TP334.8

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