Kinematic Analysis of a Flexible Planar 2-DOF Parallel Manipulator

Zhu, Jiaqi; Li, Bin; Mu, Haozhi; Li, Qi

doi:10.1007/978-3-030-27541-9_57

Cited by 1 publication

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“…The use of flexible elements, such as synchronous belts, to transmit motion from framefixed motors to an EE having purely translational motion (type a.2.iii) is, in fact, a common solution that is not limited to 3D printers. For instance, similar concepts have been applied to gait simulators [27,28], rehabilitation devices [29], robots for assistive lifting [30], and pick-and-place systems [31][32][33][34]. These systems are easy to design, transport and assemble, while also providing large workspaces and high payload-to-total-weight ratios.…”

Section: Kinematics For 3d Printersmentioning

confidence: 99%

“…with α i = dω i /dt. Thus, as in the other routings for purely translational motion [33,36], the relationship between the accelerations of the motors and the nozzle is defined by matrix J, which does not depend on the position of the mechanism. Furthermore, Equations ( 14) and ( 15) can be easily inverted analytically, which significantly simplifies the kinematic analysis.…”

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confidence: 99%

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An Alternative Parallel Mechanism for Horizontal Positioning of a Nozzle in an FDM 3D Printer

2022

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In 3D printer design, special care must be taken when choosing the print head positioning mechanism. Indeed, this choice has a significant influence on the manufacturing accuracy, printing speed, workspace characteristics, and total cost of the printer. Considering 3D printers with layer-based processes, many designs include two stages: a planar mechanism for positioning the nozzle on a horizontal plane and a linear mechanism for the vertical build–plate motion. From the literature, two designs are usually applied for horizontal motion, commercially known as “CoreXY” and “H-bot”. Their load distribution characteristics are compared here: it is found that both have significant drawbacks. Therefore, an alternative architecture, called “CoreH-bot,” is introduced to overcome such limitations; this mechanism is both fully planar, which greatly simplifies its design and assembly phases while increasing part life, and has low unbalanced torques during motion, which increases the maximum speed for the given accuracy. The CoreH-bot kinematic equations are analyzed to define the Jacobian matrix and the corresponding workspace. The static and dynamic analyses are also performed. A prototype with this architecture has been designed that shows interesting capabilities in terms of print speed, while being both simple and cost-effective to assemble.

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