Ahmet DUMLU, Mehran MAHBOUBKHAH, Kağan Koray AYTEN, Alireza Nemati GENDESHMİN, Gürkan KALINAY

Paralel Kinematik Yapıya Dayalı 5-DOF FDM Yazıcı Tasarımı ve İmalatı

Bu çalışmada, 5 serbestlik derecesine sahip yeni bir 3 boyutlu (3B) yazıcının matematiksel analizi ve tasarımı gerçekleştirilmiştir. Tasarlanan sistem sayesinde, çok eksenli 3B yazıcı mekanizmalarına yeni bir konsept kazandırılmış ve böylece eklemeli imalat (AM) süreçlerinde parça kalitesini iyileştirilmesi hedeflenmiştir. Öncelikle sistemin kinematik analizi vektör cebri kullanılarak elde edilmiş ve sistem kısıtlamalarını dikkate alınarak yazıcının çalışma uzayı belirlenmiştir. Ardından tasarlanan sistemin mekanik ve elektriksel bileşenleri hakkında detaylı bilgiler verilerek tüm sistemin çalışma prensibi sunulmuştur. Tasarım çalışmalarında elde edilen bulgulara göre önerilen sistem için gerçekleştirilen kinematik analizlerin doğru olduğu kanıtlanmış ve özellikle eklemeli imalat teknolojileri için yeni bir sistem önerilmiştir.

Anahtar Kelimeler:

Eklemeli imalat, Paralel manipülator, Kinematik, Çalışma uzayı

Design and Manufacturing of a Novel 5-DOF FDM Printer Based on Parallel Kinematic Structure

In this study, the mathematical analysis and design of a new 3D printer with 5 degrees of freedom was carried out. Thanks to the developed system, a new concept has been brought to the multi-axis 3D printer mechanisms and thus, it is aimed to improve the part quality in additive manufacturing (AM) processes. First of all, the kinematic analysis of the system was obtained using vector algebra and the work space of the current printer was determined by considering the system constraints. Then, by giving detailed information about the mechanical and electrical components of the designed system, the working principle of the whole system is presented. According to the findings obtained in the studies, the kinematic analyzes performed for the proposed system proved to be correct and a new system was proposed especially for additive manufacturing technologies.

Keywords:

Additive manufacturing, Parallel manipulator, Kinematics, Workspace,

PDF

___

Lin Li, Azadeh Haghighi & Yiran Yang. (2018). A novel 6-axis hybrid additive-subtractive manufacturing process: Design and case studies. Journal of Manufacturing Processes, (33), 150-160.
Achim Kampkera, Johannes Triebsa, Sebastian Kawolleka, Peter Ayvaza & Steffen Hohenstein. (2019). Review on Machine Designs of Material Extrusion based Additive Manufacturing (AM) Systems. Status-Quo and Potential Analysis for Future AM, Procedia CIRP 81, 815-819.
Pinar Urhal, Andrew Weightman, Carl Diver & Paulo Bartolo. (2019). Robot A review, Robotics and Computer Integrated Manufacturing, (59), 335-345.
Wei Ye, Yuefa Fang & Sheng Guo. (2017). Design and analysis of a reconfigurable parallel mechanism for multidirectional additive manufacturing. Mechanism and Machine Theory, (112), 254-261.
Jun Zhang & Frank Liou. (2004). Adaptive Slicing for a Multi-Axis Laser Aided Manufacturing Process. J. Mech. Des (2004), 126(2), 254-261.
Clavel, R. (1987). Unmanned robotic delta weapon platform. WIPO patent; (WO 87/03528).
Xie, F., & Liu, X. J. (2016). Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics and singularity. Front. Mech. Eng. (11), 135-143.
Pierrot, F. & Company O. (1999). H4: a new family of 4-dof parallel robots. AIM’99: IEEE/ASME Int. Conf. on Adv. Intelligent Mechatronics, Atlanta, Georgia, USA, 508–513.
Company, O., Krut, S., & Pierrot, F. (2002). Modelling of a 4 axis parallel machine for heavy parts handling. In Development methods and application experience of parallel kinematics. Proc. of the 3rd Chemnitz Parallel Kinematics Sem. PKS2002 , (16), 151-168.
Krut, S., Nabat, V., Company, O. & Pierrot, F. (2004). A high speed robot for Scara motions. In Proceedings of IEEE ICRA: Int. Conf. on Robotics and Automation, New Orleans.
Nabat, V., Company, O., Krut, S., Rodriguez, D. O., & Pierrot, F. (2005). Par4: Very high speed parallel robot for pick and place. In Proc. of IEEE/RSJ IROS: Int. Conf. on Intelligent Robots and Systems, Edmonton, Alberta, Canada.
Krut, S., Company, O., Nabat, V., & Pierrot, F. (2003). Heli4: a parallel robot for scara motions with a very compact travelling plate and a symmetrical design. In Proc. of IEEE/RSJ IROS: Int. Conf. on Intelligent Robots and Systems, Beijing, China.
Mehran Mahboubkhah & Ahmad Barari. (2019). Design and development of a novel 4-DOF parallel kinematic coordinate measuring machine (CMM). International Journal of Computer Integrated Manufacturing (32:8), 750-760.