Analytical and Numerical Model of Low DOF Manipulators

Forgó, Zoltán; Tolvaly-Roșca, Ferenc

doi:10.1016/j.protcy.2015.02.007

Cited by 5 publications

(3 citation statements)

References 3 publications

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“…9) in Eqs. (31) and (32), it is found that, for a motion along the x-axis, one has F ex = 4∆T and F ey = 0; for a motion along the y-axis, it holds F ex = 0 and F ey = 4∆T. Similarly, for both the H-bot and the CoreXY design, from Eq.…”

Section: F)mentioning

confidence: 92%

“…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%

“…Substituting τ i = ±r∆T (where the sign depends on the direction, as shown in Figure 9 in Equations ( 31) and (32), it is found that, for a motion along the x-axis, one has F ex = 4∆T and F ey = 0; for a motion along the y-axis, it holds F ex = 0 and F ey = 4∆T. Similarly, for both the H-bot and the CoreXY design, from Equation (1), one derives F e = 1 r J −T τ, in which τ = [τ 1 , τ 4 ] T .…”

Section: F)mentioning

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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Section: F)mentioning

confidence: 92%

Section: Kinematics For 3d Printersmentioning

confidence: 99%

Section: F)mentioning

confidence: 99%

See 1 more Smart Citation

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

2022

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Design of a family of multi-DOF drive systems for fewer limb parallel mechanisms

Fang

Wang

2020

Mechanism and Machine Theory

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The influence of the shaft angle value on the normal stress and displacement repartition by bevel gear pairs − a TCA investigation

Bodzás

2020

Mechanics & Industry

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Five types of bevel gear pairs having straight teeth were designed to analyze the effect of the modification of the shaft angle. This angle is the parameter − subject of TCA. After the geometric design process and the creation and assembly of the CAD models, Tooth Contact Analysis (TCA) was performed in order to get the mechanical parameters focusing of the tooth roots of the connecting teeth. We repeated this process five times since the load torques were also changed. The received mechanical parameters on the teeth connection of the pinion and the driven gear were analyzed with taking in consideration all four-tooth root surfaces that limit the contacting teeth pair. Finally, we referred to the useful selection of the appropriate gear pair for the engineering application.

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Analytical and Numerical Model of Low DOF Manipulators

Cited by 5 publications

References 3 publications

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

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

Design of a family of multi-DOF drive systems for fewer limb parallel mechanisms

The influence of the shaft angle value on the normal stress and displacement repartition by bevel gear pairs − a TCA investigation

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