Design And Implementation Of SCARA Arm 3D Printer

In recent years,leading the global manufacturing industry new technology,3D printing technology,the rapid development of the manufacturing industry,the influence of the production mode,has been widely used in industrial production and people's lives.However,most of the current 3D printers use Longmen frame structure,the equipment is bulky,inconvenient to carry.SCARA robot,which is a planar articulated robot,has the characteristics of small size,simple transmission principle,strong flexibility in plane motion and so on,used in 3D printing,3D printing technology will enable the realization of portable,and has high academic and practical value.In this paper,according to the technology of planar joint type SCARA robot,the SCARA arm 3D printer is designed based on the modular design idea.First of all,according to the needs of 3D printing,the whole structure design scheme of the arm type 3D printer is completed,including the structure and transmission system of each arm.Solidworks software is used to design the structure of the robot,and choose the synchronous belt to drive the power.This paper introduces the repetier-host control software of 3D printer.Secondly,analyses the kinematics of SCARA planar articulated robot,the kinematics model of SCARA type robot,using the D-H method for kinematics analysis of the model,forward and inverse kinematics transformation formula is derived.By selecting the appropriate trajectory planning method,the position of the joints of the arm can be changed continuously,smoothly and steadily by adjusting the displacement,velocity and acceleration,and the precision can be achieved.Again,the design of the 3D printer motion control system,micro controller selects high performance chip as the main control system,through the appropriate algorithm program of 3D printer motion system and heating system control more accurate,in order to achieve the overall control of arm type 3D printer.Finally,through the test,improve the function of SCARA arm type 3D printer,summing up the important role of SCARA SCARA robot in the field of 3D printing,and the SCARA arm type 3D printer development trends outlook.