Modeling and Analysis of Delta Kinematics FDM Printer

Abstract

Additive manufacturing makes it possible to speed up the process of manufacturing a product using a CAD model many times over. This advantage is effectively used in the manufacture of small batches of products with complex surfaces in the automotive and aviation industries. Improvements in printers are needed to improve accuracy and productivity. Traditionally, delta kinematics are considered to have advantages over sequential linear kinematics due to their high travel speed and relatively low cost. However, delta kinematics has received limited application, mainly for personal FDM printers. The article attempts to understand the advantages and disadvantages of delta kinematics for use in 3D printers. For this, the displacements and velocities were simulated for four examples of motion trajectories. The analysis showed that the average speed of movement of the extruder is approximately equal to, and in some cases less than the linear speeds of movements along the rods. At the same time, to ensure a uniform speed of the extruder, significant accelerations are required along the individual rods. This leads to vibrations and ultimately limits the maximum speeds.

Dokładność Wymiarowo-Kształtowa Elementów Wykonanych Technologią FFF

“…Układ ten pozwala na drukowanie z dużymi prędkościami, co może wpływać na obniżenie dokładności wymiarowej. W drukarkach tego typu, ze względu na lekką konstrukcję hotendu (bloku grzejnego), stosowany jest ekstruder typu Bowden, który zamontowany jest na ramie drukarki [9,10]. Materiałami wykorzystywanymi do procesu druku 3D technologią FFF są polimery, które można podzielić na dwie kategorie -włókna czystego polimeru (np.…”

Vibration Compensation of Delta 3D Printer with Position-varying Dynamics using Filtered B-Splines

“…The delta robot is a high-speed, parallel-axis manipulator [1], which makes it a promising candidate for increasing throughput in additive manufacturing. However, delta robots suffer from vibration errors that are a result of structural flexibilities in their kinematic chain [2]; such vibration errors can adversely impact the quality of 3D printed parts. Unfortunately, delta 3D printers have not benefited from the modelbased, feedforward control techniques that were recently used to suppress vibration on serial-axis 3D printers [3]- [6] because of the difficulty modeling and controlling the delta's coupled, nonlinear dynamics.…”