Design, Stiffness Analysis And Experimental Study Of A Cable-driven Parallel 3D Printer

3D printing technology is one of the hotspots in the field of robotics and advanced manufacturing at home and abroad.As the important production tool of the third industrial revolution,3D printing technology will make great progress in the future.As a carrier for implementing 3D printing technology,3D printers have been dominated by traditional series or parallel structures for many years.The development of cable-driven parallel technology provides a new choice for the structure of 3D printers.So this paper designed a new type of cable-driven parallel 3D printer.This paper has carried out basic research on the cable-driven parallel 3D printer system: mechanism design,kinematics and dynamics analysis,stiffness and stability analysis,simulation analysis and experimental research.For the actual work of 3D printers,the designed cable-driven parallel 3D printer consists of a cable-driven module,a follow-up tensioning module,a feeding module,a printing head module,a hot bed and frame.The parallelogram principle of cables limits the rotational freedom of the printing head and realizes three moving degrees of freedom of the printing head.Through the vector closure principle and the cable length constraint,the kinematics model of the printer was established.The dynamic model of the printer was established through the Newton-Euler method.The stability of the printing head work has an important influence on the printing accuracy.The static stiffness model of the printer is established from the definition.Because the stiffness matrix has certain limitations in measuring system stability,an index that can characterize the stability of the system is proposed based on the static stiffness of the system,which can conveniently analyze the stability of the printer system.To verify the correctness of the theoretical analysis,the kinematics and dynamics models,stiffness models and stability indicators were simulated.The prototype was established to execute experiments.The comparison between the simulation results and experimental results shows that the correctness of theoretical analysis and the feasibility of the cable-driven parallel 3D printer.