3D Printing Robot Arm Dynamics for Vibration Reduction
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Solution Overview
Problem
Existing three-dimensional object printing apparatuses using ink jet methods experience vibration in joints due to head movement during printing, leading to deteriorated printing quality.
Innovation Solution
A three-dimensional object printing apparatus with a head that discharges liquid onto a workpiece, and a robot with an arm and base portion, where the arm includes multiple joints and a tip portion supporting the head. The apparatus executes a printing operation where the robot moves the head's position while discharging liquid, and the head moves away from the base portion during this operation. The joints are configured such that the rotation axes are set to be parallel, and the angle formed by specific virtual line segments is maintained at or below 140 degrees at the start of liquid discharge.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot moves the head during printing operation, then printing coverage and productivity are improved, but vibration in joints occurs and printing quality deteriorates
Solution Approach 1:
The patent applies dynamics by making the robot arm configuration changeable during operation. Specifically, the arm transitions from a folded state (with smaller radius of gyration) to an extended state (with larger radius of gyration) during printing operations, allowing the system to adapt its mechanical properties dynamically to reduce vibration while maintaining printing capability
Solution Approach 2:
The patent changes physical parameters of the robot arm system during operation. The radius of gyration is increased by extending the arm during printing, and the configuration (folded vs extended) is changed based on operational requirements. This parameter change reduces vibration amplitude without sacrificing printing coverage
2Manufacturing precision
If the arm is folded during printing, then the radius of gyration is small and joint vibration is reduced, but the printing range and accessibility are limited
Solution Approach 1:
The robot arm configuration is made dynamic, allowing transition between folded and extended states. The arm is folded when not printing to minimize vibration, and extended when printing is required to achieve the desired printing range and accessibility, thus adapting to different operational phases
3Shape
If the head moves closer to the base portion, then the arm structure is more compact, but vibration impact on printing quality increases
Solution Approach 1:
The arm configuration is dynamically adjusted based on printing requirements. Although the arm can be folded for compactness, it is extended during printing operations to increase the distance between the head and base portion, thereby reducing vibration impact on printing quality while maintaining compactness when printing is not active
Data Source
AI summary
A three-dimensional object printing apparatus includes a head that discharges a liquid to a three-dimensional workpiece, and a robot that includes an arm and a base portion coupled to one end of the arm, and changes relative positions of the workpiece and the head. The arm includes a plurality of joints and a tip portion that is the other end of the arm and supports the head, a first printing operation in which the robot moves a position of the head while the liquid is discharged from the head is executed, and the head moves away from the base portion during the execution of the first printing operation.