Axis action optimization method for six-axis robot in three-dimensional printing equipment

A six-axis robot, three-dimensional printing technology, applied in ceramic molding machines, process efficiency improvement, manufacturing tools, etc., can solve the problems of poor optimization effect, cumbersome operation, and a lot of time numerical iterative optimization, etc., to improve convenience, Improved stability, simple control method effect
CN112776341AActive Publication Date: 2021-05-11TONGJI UNIV +1
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Patent Information

Authority / Receiving Office
CN ¡ China
Current Assignee / Owner
TONGJI UNIV
Publication Date
2021-05-11

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Abstract

The invention provides an axis action optimization method of a six-axis robot in three-dimensional printing equipment. The method comprises the steps that S1, structural lattice matrix model data of a to-be-printed 3D model is collected; S2, the structural lattice matrix model data are imported into a 3D printer; S3, an axis joint needing to be optimized is selected; S4, a to-be-printed target point in the structural lattice matrix model data is defined as a target origin coordinate P; S5, a mechanical transformation structural formula is established between the target origin coordinate P and the to-be-optimized axis joint; and S6, according to the action angle required by the axis joint, the action track angle of the printing target origin coordinate P is reversely deduced from the mechanical transformation structural formula. The invention discloses the convenient and stable axis action optimization method suitable for the six-axis robot in the three-dimensional printing equipment.
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Description

technical field

[0001] The invention relates to the field of mechanical automation control, in particular to a method for optimizing axis motion of a six-axis robot in a three-dimensional printing device. Background technique

[0002] The mainstream of 3D printing is divided into hierarchical printing and spatial structure printing according to the printing path. Generally use abs, pla, concrete, metal surfacing, thermosetting materials, etc. The present invention can be applied to all the above printing methods.

[0003] At present, the main method of robot 3D printing is to describe a series of 3D space points and transmit them to the robot in the form of offline files. The end tool head itself reaches the target point.

[0004] A traditional six-axis robot includes a drive connection between the body rotation axis A1 of the base and the 3D printing head, the drive connection body rotation axis A1, the arm movement axis A2, the forearm movement axis A3, the wrist rotati...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
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