3-CUR解耦并联3D打印机结构优化与动力学分析

发布时间：2018-05-17 23:34

本文选题：D打印 + 解耦并联机构　；参考：《中国机械工程》2017年12期

【摘要】：以熔融沉积成形3D打印机为研究对象,指出现有3D打印机存在的不足,阐述其输出运动特性,提出将解耦并联机构应用于3D打印机。选取3-CUR解耦并联机构作为3D打印机机械本体,论述其合理性,给出其输入输出间的映射关系,得到机构的运动雅可比矩阵和满足空间连续打印的驱动角范围。以灵巧度为目标,进一步优化了机构的驱动角范围,再以打印空间为优化目标,基于遗传算法得到机构参数的最优值。建立机构输入输出的误差模型,分析机构定位精度并进行误差补偿,最后基于牛顿-欧拉方法建立机构的动力学模型并进行验证,为样机设计提供理论依据。
[Abstract]:Taking the fused deposition forming 3D printer as the research object, the shortcomings of the existing 3D printer are pointed out, its output motion characteristics are expounded, and the decoupling parallel mechanism is applied to the 3D printer. The 3-CUR decoupling parallel mechanism is selected as the 3D printer mechanical body, its rationality is discussed, the mapping relationship between input and output is given, and the motion Jacobian matrix of the mechanism and the driving angle range satisfying the spatial continuous printing are obtained. Aiming at dexterity, the driving angle range of the mechanism is further optimized, and the optimal value of the mechanism parameters is obtained based on genetic algorithm with the print space as the optimization target. The error model of the mechanism input and output is established, the positioning accuracy of the mechanism is analyzed and the error is compensated. Finally, the dynamic model of the mechanism is established and verified based on Newton-Euler method, which provides the theoretical basis for the design of the prototype.
【作者单位】：燕山大学机械工程学院;
【基金】：河北省高等学校科学技术研究青年基金资助项目(QN2014175) 河北省科学技术研究与发展计划资助项目(15211826)
【分类号】：TP334.8

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