Session: 07-08-01: Multibody Dynamic Systems and Applications

Paper Number: 88317

88317 - New Design for Implementation of 2-Degree-of-Freedom Planar Parallel Robot for Use in Creating an Infinite 3D Printer 

3D printing is a rapidly growing and evolving field filled with a diverse array of printers capable of printing an equally as diverse amount of material. A new type of material extrusion 3D printer was recently developed and features the capabilities of printing infinitely long objects due to design decision of angling the XY plane and incorporating a rotating bed. These types of printers, known as infinite 3D printers, all feature the same design using gantry to support and move the hot-end. Due to the new emergence of this technology, there has been little research conducted in this field. This paper seeks to both develop and closely examine a new type of infinite 3D printer with a focus on the novel mechanism.

The new design for the infinite 3D printer features a 2-DoF planar parallel manipulator (PPM) that will control the hot-end motion in the XY plane. The PPM features a symmetric design and will consist of 3 main parts, the carriage, connecting arms, and an end-effector. The carriage is attached linear rails on the frame of the printer and move along this track by pully which is controlled by a stepper motor. The connecting arms use revolute joints to connect the carriage to the end-effector. The end-effector is the mounting point for the hot-end. Due to the design of the PPM the end-effector maintains its orientation all throughout the workspace. This new design will greatly reduce the mass of moving parts in comparison to other infinite 3D printers. This is because the only mass the PPM must move is the pully carriage, connecting arms, and the hot-end. Current infinite 3D printers have to move the entire gantry, along with the hot-end and X axis motor. This reduction of weight will reduce inertia and allow for this new printer to achieve higher accelerations.

In addition to the development of the new 3D printer, this paper  presents a kinematic and dynamic model of the angled PPM, a finite element analysis of the critical components of the PPM, and an optimization approach to determine arm length of the PPM. The dynamic model simulation was developed in MATLAB and the results were compared with field data collected to verify the model. A finite element analysis was performed to evaluate the forces experienced in the joints and to evaluate the deflection of the PPM. A meta-heuristic optimization was performed to optimize arm length of the connectors while maximizing the dynamic performance of the PPM with consideration of the usable workspace and the angle between connecting arm and end-effector. The results of these examinations yield a validated mechanism that will be suitable for the development of a new type of infinite 3D printer.

Presenting Author: Miguel De La Melena Saint Martin's University

Presenting Author Biography: Miguel De La Melena is a graduate student in Department of Mechanical Engineering at Saint Martin's University

Authors:

Miguel De La Melena Saint Martin's University
Shawn Duan Saint Martin's University