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《China Mechanical Engineering》 2016-17
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Design and Analysis of Five DOF 3D Printing Parallel Robot

Pan Ying;Fang Yuefa;Wang Congzhe;Beijing Jiaotong University;  
The design of a novel parallel mechanism for multi-directional 3D printing with five DOF including three translational DOF and two rotational DOF was presented.Its characteristic was that the machine adopted a articulated moving platform to achieve larger workspace.According to the established kinematics model,the inverse kinematics was calculated,the position workspace and the orientation workspace were analyzed,and the velocity Jacobian matrix was established based on screw theory.Kinematic performances,such as singularity and dexterity were analyzed based on the computed Jacobian,the motion simulation was also analyzed.The results show that the 3D printing parallel robot has larger position workspace and the orientation workspace.Although singular location existed,it might be eliminated by means of actuation redundancy and the results prove that the mechanism has better dexterity and is suitable for multi-directional 3D printing.
【Fund】: 国家自然科学基金资助项目(51175029);; 北京市自然科学基金资助项目(3132019)
【CateGory Index】: TP242
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