The invention discloses a mechanical arm 3D printing normal calibration method based on
singular value decomposition. The mechanical arm 3D printing normal calibration method comprises the steps that S1, a dial indicator is installed at the
tail end of a mechanical arm; s2, respectively establishing coordinate systems by taking the center point of the
flange at the
tail end of the mechanical arm, the actual contact point of the dial indicator and the non-deformation
tail end point of the dial indicator as original points; s3, taking the central point of the
flange at the tail end of the mechanical arm as a movement track of the point in any set space curve, and sampling to obtain a space
point set of sampling points; s4, fitting a plane in the space by using a
singular value decomposition method, so that the sum of squares of distances from all sampling points in the space
point set to the plane is minimum, and further obtaining a three-dimensional space
plane equation and a normal vector of the fitted plane; and S5, coordinate
system posture correction is conducted on the mechanical arm tail end
flange center point coordinate
system, so that the axis of the center of the mechanical arm tail end flange is parallel to the normal vector, and the parallelism between the printing track surface and the forming platform is improved. The forming quality of the first layer of 3D printing can be effectively improved.