In view of faults of the current 3D printing devices such as the single structure and the little printing space, a cantilever 3D printing robot was developed. The link coordinate systems were set up by the D-H (Denavit-Hartenberg) method. In accordance with homogeneous coordinate transformation, the forward kinematics equation was set up and the inverse kinematics solution was solved by the algebraic method. Through controlling the joint variables, the printer head could be driven to finish printing process according to the specified path at the 3D printing platform. The experiments of printing parts were done at the cantilever 3D printing robot platform. The result showed that cantilever 3D printing robot could execute the corresponding motion trajectory accurately and effectively according to the planned path without warping and deformation, and the quality and accuracy of the printing part were better.
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韩兴国,崔立秀,王为庆,陈海军,殷国富.悬臂式3D打印机器人运动分析与打印实验[J].机床与液压,2017,45(18):70-74. . Cantilever 3D printing robot motion analysis and printing experiment[J]. Machine Tool & Hydraulics,2017,45(18):70-74