Research On Dynamic Performance Of Delta 3D Printer

3D printing is a kind of additive manufacturing technology.Because of its rapid prototyping characteristics,it can eliminate the limitations of traditional product design and achieve products that traditional manufacturing industry cannot complete.This technology has significant effect on saving raw materials and manufacturing cost in industrial production.With the diversified development of 3D printing materials and the innovation of printing technology,3D printing not only shows extraordinary development potential in the traditional manufacturing industry,but also extends to areas closely related to people's lives.In order to further improve the printing speed and precision of 3D printer,this paper takes delta 3D printer as the research object,designs and models reasonably according to the structure characteristics of printer,and focuses on the research of kinematics,dynamics,inertia parameter identification and prototype experiment.(1)Based on the completion of 3D modeling of Delta 3D printer,according to the geometric relationship between the components of the printer and the numerical algebra method,the inverse solution motion equation of the relative relationship between the printer slider and the moving platform position is derived,and then the Jacobian matrix of the speed is obtained;using MATLAB software,using the numerical analysis method,the 3D printer is obtained through the inverse solution model search Through ADAMS software,the position trajectory and velocity trajectory of the nozzle are obtained.The displacement,velocity and acceleration have the characteristics of motion smoothness.The inverse kinematics model of the printer is verified.(2)The global dynamic model of the Delta 3D printer system is built.Using the advantages of spinor bond graph in the dynamic modeling of parallel robot,this paper constructs the dynamic model of the main body subsystem of the printer machine.Combining with the traditional bond graph,the dynamic model of the driving subsystem is established,and the global dynamic model of the mechanical and electrical coupling of the printer system is obtained.The causality of energy transfer and exchange between various energy domains of the system is vividly and intuitively described,and reflects the transfer relationship of the motion force between the components.Compared with the results of ADAMS numerical simulation,MATLAB theoretical calculation and experimental measurement,the full solution model of multi energy domain system dynamics of the mechanism is verified.(3)Based on the above global dynamic model,the key points of the mechanism are equivalent to the speed and force spinor.According to the principle of power conservation,the linear model of the inertia parameters of the 3D printer is obtained.The optimized motion track of delta 3D printer is repeated.The experimental data is collected by force sensor,and the data is optimized.Finally,the inertia parameters of delta 3D printer are estimated by calculation and data fitting.(4)In order to test whether the estimated value of delta type 3D printing inertia parameters is accurate,it needs to be verified by experiments again.First of all,on the basis of machining the experimental prototype,given any trajectory of the prototype,through the force sensor and force measuring instrument to collect the driving data during the experiment,through the comparison with the driving force calculated by theory,the accuracy of the identified value of the inertial parameters is verified.