本文選題：D打印 + 解耦并聯(lián)機(jī)構(gòu)�。� 參考：《中國機(jī)械工程》2017年12期

【摘要】：以熔融沉積成形3D打印機(jī)為研究對象,指出現(xiàn)有3D打印機(jī)存在的不足,闡述其輸出運(yùn)動(dòng)特性,提出將解耦并聯(lián)機(jī)構(gòu)應(yīng)用于3D打印機(jī)。選取3-CUR解耦并聯(lián)機(jī)構(gòu)作為3D打印機(jī)機(jī)械本體,論述其合理性,給出其輸入輸出間的映射關(guān)系,得到機(jī)構(gòu)的運(yùn)動(dòng)雅可比矩陣和滿足空間連續(xù)打印的驅(qū)動(dòng)角范圍。以靈巧度為目標(biāo),進(jìn)一步優(yōu)化了機(jī)構(gòu)的驅(qū)動(dòng)角范圍,再以打印空間為優(yōu)化目標(biāo),基于遺傳算法得到機(jī)構(gòu)參數(shù)的最優(yōu)值。建立機(jī)構(gòu)輸入輸出的誤差模型,分析機(jī)構(gòu)定位精度并進(jìn)行誤差補(bǔ)償,最后基于牛頓-歐拉方法建立機(jī)構(gòu)的動(dòng)力學(xué)模型并進(jìn)行驗(yàn)證,為樣機(jī)設(shè)計(jì)提供理論依據(jù)。
[Abstract]:Taking the fused deposition forming 3D printer as the research object, the shortcomings of the existing 3D printer are pointed out, its output motion characteristics are expounded, and the decoupling parallel mechanism is applied to the 3D printer. The 3-CUR decoupling parallel mechanism is selected as the 3D printer mechanical body, its rationality is discussed, the mapping relationship between input and output is given, and the motion Jacobian matrix of the mechanism and the driving angle range satisfying the spatial continuous printing are obtained. Aiming at dexterity, the driving angle range of the mechanism is further optimized, and the optimal value of the mechanism parameters is obtained based on genetic algorithm with the print space as the optimization target. The error model of the mechanism input and output is established, the positioning accuracy of the mechanism is analyzed and the error is compensated. Finally, the dynamic model of the mechanism is established and verified based on Newton-Euler method, which provides the theoretical basis for the design of the prototype.
【作者單位】： 燕山大學(xué)機(jī)械工程學(xué)院;
【基金】：河北省高等學(xué)�？茖W(xué)技術(shù)研究青年基金資助項(xiàng)目(QN2014175) 河北省科學(xué)技術(shù)研究與發(fā)展計(jì)劃資助項(xiàng)目(15211826)
【分類號(hào)】：TP334.8

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本文編號(hào)：1903385