全约束索驱动并联机器人无碰撞打印工作空间的计算

M. Fabritius, C. Martin, A. Pott
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引用次数: 5

摘要

使用完全约束的电缆机器人作为3d打印的操纵器,电缆和打印部件之间存在碰撞的风险。本文提出了一种计算工作空间体积形状的方法,在该工作空间体积内可以打印零件而不发生此类碰撞。所提出的方法是基于打印部件是在一系列水平层中生产的事实。电缆在各层中所占的面积与打印部件的横截面相似。打印层电缆所占据的二维形状与同一层打印部件的横截面不重叠,则不存在碰撞。开发了在每层平行四边形类中找到最大可打印2d形状的程序。然后通过堆叠每层的2d形状来给出最大可打印的3d体积。图中显示了该方法在电缆机器人IPAnema 3上的应用结果。最后,给出了全约束索机器人可打印体积最大化的设计准则。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Calculation of the Collision-Free Printing Workspace for Fully-Constrained Cable-Driven Parallel Robots
Using fully-constrained cable robots as manipulators for 3D-printing, there is the risk of collisions between the cables and the printing part. This paper presents a method to calculate the shape of the workspace volume within which a part can be printed without such collisions. The presented method is based on the fact that the printing part is produced in a sequence of horizontal layers. The areas occupied by the cables in the layers are scaled similar mappings of the cross-sections of the printing part. There is no collision if the 2D-shapes occupied by the cables in the printing layer do not overlap with the cross-sections of the printing part in the same layer. A procedure to find the largest printable 2D-shapes within the class of parallelograms for each layer is developed. The maximum printable 3D-volume is then given by stacking the 2D-shapes of each layer. Figures show the results of the method applied on the cable robot IPAnema 3. Finally, a guideline for the design of fully-constrained cable robots to maximize their printable volume is given.
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