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Дата издания
11.11.2024На каком языке издана
ISSN
1680-9165Область исследования
Тип исследования
Аннотация (краткое описание)
This paper explores the potential application of a 3-UPU manipulator as a design for a metal 3D printer. To determine the working area of the 3-UPU manipulator, its inverse kinematics were investigated. Using the Denavit-Hartenberg method, the required lengths of the manipulator’s prismatic pairs were analytically calculated based on the coordinate system transformation matrices. The obtained results were verified by numerical methods in MATLAB program and the correctness of analytical solutions was confirmed. The study showed that the working area of the 3-UPU manipulator is 800x800x600 mm, which is large enough for metal 3D printers. This work area gives you the ability to print from small parts to large parts as well as body parts. The precise positioning and dexterity of the 3-point manipulator ensures sufficient precision in part production. This working area makes it possible to print from small parts to large parts as well as body parts. The positioning accuracy and dexterity of the 3UPU manipulator provides sufficient accuracy in part production. This accuracy of part fabrication reduces the post-processing time of parts by machining, resulting in less material consumption for chips and wear of cutting tools. This research work can provide a scientific basis to enable the 3-UPU arm to be used in metal 3D printers. Future research following this work is planned to explore issues such as improving the dynamic model of the manipulator and increasing its efficiency by optimizing control algorithmsDOI
https://doi.org/10.48081/KCSD7563Тип публикаций
Практическое значение
The practical significance of this study lies in providing a scientific basis for the application of a 3-UPU manipulator as a core structure for metal 3D printers. The proposed system enables high-precision positioning in additive manufacturing processes, making it suitable for producing both small components and large-scale structural metal parts. The determined workspace of the manipulator (800×800×600 mm) demonstrates its capability to handle a wide range of part sizes, increasing manufacturing flexibility and adaptability to various industrial requirements. This makes it possible to manufacture complex geometries efficiently within a single system. From a practical perspective, the high positioning accuracy of the manipulator reduces the need for extensive post-processing, such as machining. This leads to lower material waste, reduced tool wear, and shorter production times, ultimately improving overall manufacturing efficiency and reducing costs. In addition, the analytical and MATLAB-based verification of the kinematic model ensures reliable system behavior and provides a solid foundation for optimizing control algorithms. The results of this research can be applied in metal additive manufacturing, robotics, and automated production systems, contributing to the development of more efficient and precise 3D printing technologies.Данный документ располагается в коллекциях
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