Workspace Analysis And Optimization Of 3D Printer Of Three Degrees Of Freedom Parallel Mechanism

3D printer is a new mode of production,which is different from the traditional method of cutting material.It is using the method of adding material,the product is obtained by layer by layer stacking.It can greatly reduce the material waste.At present,the 3D printer have received attention from all over the world,among parallel mechanism 3D printer has been widely used because of its simple structure,high precision,low cost and so on.The size of the workspaces is an important index of the printer can determine its cost performance.Therefore,it is very important to optimize the working space of parallel mechanism printer.Research on a parallel mechanism 3D printer(structural analysis and workspace optimization),and build the experimental platform,which can meet the constraints of the premise,through simulation analysis,to get the optimal solutions of the mechanism parameters,for improving the working space of the isotropic degree.The main contents of this paper are as follows:In the first part,the research background of this thesis is introduced,the development status of 3D printer,parallel mechanism 3D printer have advantage in comparison with serial mechanism 3D printer and the research status of parallel robot and workspace of parallel mechanism are introduced,and the significance and main research contents of this paper are pointed out.In the second part,the position analysis of the mechanism is briefly described at first.The position inverse solution equation of the mechanism are solved and then into the numerical calculation.The result with the position positive solution are verified by each other.Finally,the velocity analysis is carried out,provides a theoretical basis for the subsequent work.The third part,according to the characteristics of mechanism,the limitation of the working space of the mechanism is analyzed,the simulation software MATLAB is used to solve the workspace of the mechanism,the isotropic degree of workspace is proposed as a new evaluation index of working space.Based on the index to optimize the parameters of the mechanism.It compared with the not optimized results to prove the necessity of the optimization.In the fourth part,design and construction of the 3D printer,including the mechanical and control parts of the motor and other sensors and control board between the connection,3D printer printing process,etc.And the correctness of the optimization results is proved by experiments.