Investigation of Kinematics of 3D Printer Print Head Moving Systems

Avdeev, Artem; Shvets, Andrey; Torubarov, I. S.

doi:10.1007/978-3-030-22041-9_50

Cited by 8 publications

(10 citation statements)

References 5 publications

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“…A tool-changer configuration most often is based on the so-called coreXY kinematics [51] motion system [52]. Each extruder is configured as a swappable tool and is parked in a pre-defined position on the frame (see Figure 3f).…”

Section: B Materials Switching Systemsmentioning

confidence: 99%

A Review of Extrusion-Based 3D Printing for the Fabrication of Electro- and Biomechanical Sensors

et al. 2021

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In this review paper, we focus on the 3D printing technologies that consist of the extruding of fluid material in lines to form structures for electro-and biomechanical applications. Our paper reviews various 3D print technologies, materials, sensing technologies and applications of extrusion-based 3D printing. We also discuss how to overcome some of the challenges with 3D printed sensors, such as the anisotropy of the conductors as well as the drift and nonlinearity of the materials.

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Section: B Materials Switching Systemsmentioning

confidence: 99%

A Review of Extrusion-Based 3D Printing for the Fabrication of Electro- and Biomechanical Sensors

et al. 2021

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“…Usually, the build platform has one DoF along one axis, while the nozzle has two DoFs along the other two axes. This is the most common architecture in desktop FDM printers [3,9,10,[15][16][17][18][19][20][21]. (b) Delta printers use the parallel kinematic architecture of the Delta robot, proposed by R. Clavel; in particular, the linear version of the Delta is used, where prismatic pairs actuate the mechanism [22].…”

Section: Introduction 1architectures For 3d Printingmentioning

confidence: 99%

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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“…Using the H-frame as one of several improvements to conventional FDM 3D printers, Go et al [10] demonstrated 5 to 10 times improvements in build rate using the Fast FFF printer compared to several printers of the same class. However, parts printed with H-frame 3D printers suffer from quality defects caused by parasitic error motions due to "racking" [11][12][13]: when the motors are commanded to rotate in the same direction, corresponding to x-axis motion of the end-effector, a force couple (pure moment) is imposed on the gantry (Fig. 1(b)) which, depending on the speed, may create large enough errors to distort the part shape.…”

Section: Introductionmentioning

confidence: 99%

“…1(b)) which, depending on the speed, may create large enough errors to distort the part shape. The magnitude of these errors also depends on the endeffector's location along the x-axis, indicating a parameter varying system [13].…”

Section: Introductionmentioning

confidence: 99%

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Software Compensation of Undesirable Racking Motion of H-frame 3D Printers using Filtered B-Splines

Edoimioya,

Ramani,

Okwudire

2021

Preprint

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The H-frame (also known as H-Bot) architecture is a simple and elegant two-axis parallel positioning system used to construct the XY stage of 3D printers. It holds potential for high speed and excellent dynamic performance due to the use of frame-mounted motors that reduce the moving mass of the printer while allowing for the use of (heavy) higher torque motors. However, the H-frame's dynamic accuracy is limited during high-acceleration and high-speed motion due to racking -i.e., parasitic torsional motions of the printer's gantry due to a force couple. Mechanical solutions to the racking problem are either costly or detract from the simplicity of the H-frame. In this paper, we introduce a feedforward software compensation algorithm, based on the filtered B-splines (FBS) method, that rectifies errors due to racking. The FBS approach expresses the motion command to the machine as a linear combination of B-splines. The B-splines are filtered through an identified model of the machine dynamics and the control points of the B-spline based motion command are optimized such that the tracking error is minimized. To compensate racking using the FBS algorithm, an accurate frequency response function of the racking motion is obtained and coupled to the H-frame's xand y-axis dynamics with a kinematic model. The result is a coupled linear parameter varying model of the H-frame that is utilized in the FBS framework to compensate racking. An approximation of the proposed racking compensation algorithm, that decouples the x-and y-axis compensation, is developed to significantly improve its computational efficiency with almost no loss of compensation accuracy. Experiments on an H-frame 3D printer demonstrate a 43% improvement in the shape accuracy of a printed part using the proposed algorithm compared to the standard FBS approach without racking compensation. The proposed racking compensation algorithm can be used in-conjunction with mechanical solutions, or as a stand-alone solution, to improve the performance of H-frame architectures.

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Investigation of Kinematics of 3D Printer Print Head Moving Systems

Cited by 8 publications

References 5 publications

A Review of Extrusion-Based 3D Printing for the Fabrication of Electro- and Biomechanical Sensors

A Review of Extrusion-Based 3D Printing for the Fabrication of Electro- and Biomechanical Sensors

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

Software Compensation of Undesirable Racking Motion of H-frame 3D Printers using Filtered B-Splines

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