CALCULATION OF THE COLLISION-FREE PRINTING WORKSPACE FOR FULLY-CONSTRAINED CABLE-DRIVEN PARALLEL ROBOTS

被引:0
|
作者
Fabritius, Marc [1 ]
Martin, Christoph [1 ]
Pott, Andreas [1 ]
机构
[1] Fraunhofer Inst Mfg Engn & Automat IPA, Robot & Assist Syst, D-70569 Stuttgart, Germany
基金
欧盟地平线“2020”;
关键词
D O I
暂无
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Using fully-constrained cable robots as manipulators for 3D-printing, there is the risk of collisions between the cables and the printing part. This paper presents a method to calculate the shape of the workspace volume within which a part can be printed without such collisions. The presented method is based on the fact that the printing part is produced in a sequence of horizontal layers. The areas occupied by the cables in the layers are scaled similar mappings of the cross-sections of the printing part. There is no collision if the 2D-shapes occupied by the cables in the printing layer do not overlap with the cross-sections of the printing part in the same layer. A procedure to find the largest printable 2D-shapes within the class of parallelograms for each layer is developed. The maximum printable 3D-volume is then given by stacking the 2D-shapes of each layer. Figures show the results of the method applied on the cable robot IPAnema 3. Finally, a guideline for the design of fully-constrained cable robots to maximize their printable volume is given.
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页数:9
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