本科毕业设计（论文）说明书
并联机械手式三维打印机结构设计
学 院 机电工程学院 专业班级 机械工程及自动化五班 学生姓名 学生学号 指导教师
提交日期 2014 年 5 月 28 日
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摘 要
三维打印技术是集机械、自动控制、计算机科学、材料学等为一体的先进制造技术。本文首先介绍了三维打印技术的基本原理和特点，以及三维打印技术的发展现状和关键技术。接着阐述并联机器人的机构原理和特点，还有它的发展国内外发展情况。然后通过选题背景及设计目的引出如今三维打印机存在的问题，比如成型精度和速度等。
本文是对并联机械手式三维打印的整体结构设计。着重于机械手的机构的设计，简单性地说明打印机的整体设计。
在机械手的机构设计部分，需要建立运动学模型。对于机器人的控制系统来说，运动学正解和运动学反解都是不可避免的。还有一个重要点是并联机器人的尺度综合。尺度综合是并联机械手设计的重要内容，速度、精度、刚度、工作空间是评价并联机械手系统性能的重要指标。
机械手的机构设计完成后，因为是基于并联机械手的三维打印机，还需要讨论三维打印机的整体设计，这也是为了能将并联机械手和三维打印机很好地结合为一体。对于部分结构，本文会予以重点讨论。
关键词：三维打印技术，并联机械手，运动学模型，尺度综合
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Abstract
Three-dimensional printing technology is one of the advanced manufacturing technology of machinery, automatic control, computer science, material science etc.. This paper first introduces the basic principle and characteristics of 3D printing technology, as well as 3D printing technology development status and key technology. Then it elaborates the mechanism principle and the characteristic of the parallel robot, and the development of its domestic and foreign development. And then through the background and the design objective leads now 3D printer problems, such as molding speed and precision.
This paper is the overall structure design of parallel manipulator type of three-dimensional printing. The design focuses on the manipulator mechanism, the simple description of the overall design of the printer.
In the design of manipulator mechanism part, needs to establish the kinematics model. For the control system of robot, kinematics and inverse kinematics is inevitable. Another important point is the synthesis of parallel robot. Synthesis is an important content of design parallel machine, speed, precision, rigidity, the working space is an important index for evaluating the performance of parallel manipulator system.
The mechanism of robot design, because it is a 3D printer parallel manipulator based on, also need to discuss the overall design of 3D printers, this is to be the good combination of parallel manipulator and a 3D printer as a whole. For part of the structure, this paper will be focused on.
Keywords: 3D printing technology, parallel manipulator, kinematics model, dimension synthesis
Key words: Multivariable system, Predictive control, Environmental test device
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目 录
摘 要 ................................................................................................................................................ I Abstract .......................................................................................................................................... II 目 录 ............................................................................................................................................. III 第一章 绪论 .................................................................................................................................... 1
1.1三维打印机概述 ................................................................................................................ 1
1.1.1桥梁检修的概述 ..................................................................................................... 1 1.1.2应用前景 ................................................................................................................. 1 1.1.3存在的问题 ............................................................................................................. 2 1.2并联机械手综述 ................................................................................................................ 4
1.2.1并联机构的特点 ..................................................................................................... 4 1.2.2并联机构的分类 ..................................................................................................... 5 1.2.3并联机器人的应用 ................................................................................................. 9 1.2.4发展展望 ............................................................................................................... 11 1.3选题背景及设计目的 ...................................................................................................... 11 1.4选题背景及设计目的 ...................................................................................................... 12 第二章 机械手的设计 .................................................................................................................. 13
2.1 设计前分析 ..................................................................................................................... 13 2.2 Delta机器人结构分析 .................................................................................................... 13 2.3动平台位置反解 .............................................................................................................. 15
2.3.1坐标系建立 ........................................................................................................... 15 2.3.2位置反解分析 ....................................................................................................... 16 2.4动平台位置正解 .............................................................................................................. 18 2.5机械手的工作空间 .......................................................................................................... 18 2.6机械手的驱动部分 .......................................................................................................... 20
2.6.1电机选型 ............................................................................................................... 20 2.6.2扭力校验 ............................................................................................................... 20 2.7机械手材料选择 .............................................................................................................. 21
2.7.1主动臂材料选择 ................................................................................................... 22 2.7.2动平台材料选择 ................................................................................................... 23 2.7.3静平台材料选择 ................................................................................................... 24 2.7.4其他部分确定 ....................................................................................................... 25 2.8本章小结 .......................................................................................................................... 27
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并联机械手式三维打印机结构设计
