Additive Printing System by Rotational Type of Tripod Parallel Mechanism

The use of the rotational type of tripod parallel kinematic mechanism to move the motion stage has been proposed as a new additive printing method for a surface of three-dimensional objects. For the rotational type of tripod parallel mechanism, the inverse kinematic formulation has been derived. For the target dish surface, MATLAB/Simulink was used to simulate the motion path of each actuator in the tripod parallel mechanism for additive printing. The prototype system was developed to test the proposed additive printing method's validity. The additive printing was performed on the surface of the ceramic dish. The performance of the prototype system has been tested in the field. When the additive printing was performed multiple times under the same conditions, decorated printing circles ware repeatedly drawn on the dishes' edge.