支承套制造_new教程.doc

成都航空职业技术学院 论文题目:支承套制造工艺及其工装设计 专业： 飞机制造技术 班级： 111343 姓名： 刘 侨 学号： 110352 指导教师： 王 晓 霞 二零一四年六月  摘 要 三维打印技术是集机械、自动控制、计算机科学、材料学等为一体的先进制造技术。 本文首先介绍了三维打印技术的基本原理和特点，以及三维打印技术的发展现状和关键技 术。接着阐述并联机器人的机构原理和特点，还有它的发展国内外发展情况。然后通过选 题背景及设计目的引出如今三维打印机存在的问题，比如成型精度和速度等。 本文是对并联机械手式三维打印的整体结构设计。着重于机械手的机构的设计，简单 性地说明打印机的整体设计。 在机械手的机构设计部分，需要建立运动学模型。对于机器人的控制系统来说，运动 学正解和运动学反解都是不可避免的。还有一个重要点是并联机器人的尺度综合。尺度综 合是并联机械手设计的重要内容，速度、精度、刚度、工作空间是评价并联机械手系统性 能的重要指标。 机械手的机构设计完成后，因为是基于并联机械手的三维打印机，还需要讨论三维打 印机的整体设计，这也是为了能将并联机械手和三维打印机很好地结合为一体。对于部分 结构，本文会予以重点讨论。 关键词：三维打印技术，并联机械手，运动学模型，尺度综合 Abstract Three-dimensional printing technology is one of the advanced manufacturing technology of machinery, automatic control, computer science, material science etc.. This paper first introduces the basic principle and characteristics of?3D?printing technology, as well as?3D?printing technology development status and key technology. Then it elaborates the mechanism principle and the characteristic of the parallel robot, and the development of its domestic and foreign development. And then through the background and the design objective leads now?3D?printer problems, such as molding speed and precision. This paper is the overall structure design of parallel manipulator type of three-dimensional printing. The design focuses on the manipulator mechanism, the simple description of the overall design of the printer. In the design of manipulator mechanism part, needs to establish the kinematics model. For the control system of robot, kinematics and inverse kinematics is inevitable. Another important point is the synthesis of parallel robot. Synthesis is an important content of design parallel machine, speed, precision, rigidity, the working space is an important index for evaluating the performance of parallel manipulator system. The mechanism of robot design, because it is a?3D?printer parallel manipulator based on, also need to discuss the overall design of?3Dprinters, this