| In the field of advanced digital design and manufacturing, three-dimensional printing manufacturing technology based on six degrees of freedom industrial robots has more obvious advantages than the ones of the traditional processing technology,such as the free and flexible movement of the nozzle in the space, the improved part manufacturing speed, the bigger size of the one-time molding object and shape complexity. In this thesis, the characteristics, current research status and feasibility of the industrial robot 3D molding system based on FDM technology are given first.Then the theoretical and realization problems in this kind of molding system are proposed including the nozzle module, industrial robot control and system’s communication. Finally, a lot of process experiments are carried out and the problems such as the accumulation of corners and the accumulation of layers are analyzed and solved. The main works of this thesis are given as follows:1. An industrial robot 3D printing system is designed. The designed mechanical hardware structures include the nozzle module, the printing floor and the industrial robot. The design of the control hardware circuit includes the heating circuit of the nozzle module, the temperature control circuit, the stepping motor drive circuit and the temperature control circuit of the printing floor.2. Cooperative communication between industrial robot and nozzle is discussed.Communication connection relationship is established through the I/O interfaces between the industrial robot and the nozzle. Arduino controller is controlled by the electric control cabinet based on the opening and stop button. While the nozzle temperature is feedback to the electric control cabinet by the Arduino controller. The data communication task between the 3D print nozzle and the industrial robot is realized based on this strategy and in different time the real-time control the start-stop of the machine is obtained.3. Based on the studies of the basic theory of nozzle temperature control, motor control and industrial robot control in the industrial robot 3D printing system, the fuzzy control, PWM wave control and teaching programming method are systematically taken to carry out systematic research. The detailed programs are given and implemented in the designed system.4. The experiments of the 3D printing process of industrial robots are conducted.And the effects of robot motion approximation parameters, nozzle extrusion speed,inter-layer lifting height and motion command parameters on the print quality are investigated. The final wide 3D molding parts is printed.This thesis attempts to conduct some research about the design of the industrial robot 3D system and some experimental work. The above research expands the application field of the industrial robots. It is proved that the use of industrial robots for three-dimensional printing can provide a more rapid manufacturing method for the sharping of the complex and big size parts. |
