Research Of 3D Printing Mechanism Based On 3-RPS Parallel Workbench

With years of development,3D printing technology has made considerable progress in printing precision,printing speed,and the strength of the forming parts.At present,3D printing technology is mostly formed by plane stratification.It is usually necessary to add supporting structure when forming the parts with suspension and cantilever structure.When forming fiber reinforced composite,it cannot be formed completely according to fiber orientation.Aiming at the above problems,this paper proposes a spatial stratified 3D printing method,and studies the feasibility of the space 3D printing device based on the principle of 3-RPS parallel mechanism,and invents a new type of 3D printing mechanism based on 3-RPS parallel workbeach.The main works achieved in this paper are as follows:(1)Theoretical analysis and kinematics analysis of 3D printing mechanism based on 3-RPS parallel workbeach.The configuration of the 3D printing mechanism based on the 3-RPS parallel workbeach is determined by comparing three 3D printing mechanisms that meet the forming requirements.The degree of freedom of the mechanism is calculated and verified based on the Helix theory and Kutzbach-Grübler formula.The forward and inverse equations of kinematics and velocity and acceleration of the mechanism are derived.(2)The forming space calculation of 3D printing device.The motion space of the new type of 3D printing device is analyzed by using the boundary search method and Matlab.The calculation method of the maximum forming space of the printing device is obtained.(3)Using Adams,the trajectory planning simulation of the 3D printing mechanism is carried out.According to the calculated kinematic equation and the forming space,the forming trajectory planning of the 3D printing mechanism based on the 3-RPS parallel workbeach is carried out.The correctness of the kinematic analysis of the 3D printing mechanism and the rationality of mechanism design have been verified with the combined simulation of control system with Adams and Matlab.(4)The prototype of 3D printing mechanism based on 3-RPS parallel workbeach is designed.Through the design checking and component selection of mechanical system and control system,the prototype is completed preliminarily,which lays the foundation for the development of the subsequent software systems.