19 Electro-Mechanical Co-Simulation of a 6-DOF …
249
19.3 Conclusion
The 6-DOF parallel robot is a core component of 6-DOF 3D printer. For further
improving the quality of 3D printing, the electro-mechanical co-simulation of the
Stewart 6-DOF parallel robot is realized through the interface of ADAMS/control
module and MATLAB. The steady-state accuracy of the 6-DOF parallel robot is simulated by the position and attitude step trajectory signal, and the dynamic performance
is simulated by the sinusoidal trajectory signal. The simulation results verified that
the control strategy can realize the precise control of the six struts, so as to realize
the fast and accurate control of the position and attitude of the moving platform.
Which also show that the 6-DOF parallel robot has a high steady accuracy and good
dynamic performance, and the simulation parameters provide the necessary design
basis for the development of the 6-DOF parallel robot.
References
1. Son, T.A., Minh, P.S., Thanh, T.D.: Effect of 3D printing parameters on the tensile strength of
products. Key Eng. Mater. 863, 103–108 (2020)
2. Huynh, H.N., Bui, T.H., Thai, T.T.H., Nguyen, H.T.: Research on the effect of technical
attributes on the tensile strength of FDM products. Key Eng. Mater. 86, 33–50 (2020)
3. Li, X.D., Zhao, F.: 3D printing technology impact on development of industrial design. Key
Eng. Mater. 693, 1901–1904 (2016)
4. Glasschroeder, J., Prager, E., Zaeh, M.F.: Powder-bed-based 3D-printing of function integrated
parts. Rapid Prototyp. J. 21(2), 207–215 (2015)
5. Chen, Y., Zhou, C., Lao, J.: A layerless additive manufacturing process based on CNC
accumulation. Rapid Prototyp. J. 17(3), 218–227 (2011)
6. Lee, W.C., Wei, C.C., Chung, S.C.: Development of a hybrid rapid prototyping system using
low-cost fused deposition modeling and five-axis machining. J. Mater. Process. Technol.
214(11), 2366–2374 (2014)
7. Keating, S., Oxman, N.: Compound fabrication: A multi-functional robotic platform for digital
design and fabrication. Robot. Comput.-Integr. Manuf. 29(6), 439–448 (2013)
8. Günther, D., Heymel, B., Franz Günther, J., Ederer, I.: Continuous 3D printing for additive
manufacturing. Rapid Prototyp. J. 20(4), 320–327 (2014)
9. Song, X., Pan, Y., Chen, Y.: Development of a low-cost parallel kinematic machine for
multidirectional additive manufacturing. J. Manuf. Sci. Eng. 137(2), 297–310 (2015)
10. Stewart, D.: A Platform with six degrees of freedom. Proc. Int. Mech. Eng. 180(1), 371–386
(1965)
249
19.3 Conclusion
The 6-DOF parallel robot is a core component of 6-DOF 3D printer. For further
improving the quality of 3D printing, the electro-mechanical co-simulation of the
Stewart 6-DOF parallel robot is realized through the interface of ADAMS/control
module and MATLAB. The steady-state accuracy of the 6-DOF parallel robot is simulated by the position and attitude step trajectory signal, and the dynamic performance
is simulated by the sinusoidal trajectory signal. The simulation results verified that
the control strategy can realize the precise control of the six struts, so as to realize
the fast and accurate control of the position and attitude of the moving platform.
Which also show that the 6-DOF parallel robot has a high steady accuracy and good
dynamic performance, and the simulation parameters provide the necessary design
basis for the development of the 6-DOF parallel robot.
References
1. Son, T.A., Minh, P.S., Thanh, T.D.: Effect of 3D printing parameters on the tensile strength of
products. Key Eng. Mater. 863, 103–108 (2020)
2. Huynh, H.N., Bui, T.H., Thai, T.T.H., Nguyen, H.T.: Research on the effect of technical
attributes on the tensile strength of FDM products. Key Eng. Mater. 86, 33–50 (2020)
3. Li, X.D., Zhao, F.: 3D printing technology impact on development of industrial design. Key
Eng. Mater. 693, 1901–1904 (2016)
4. Glasschroeder, J., Prager, E., Zaeh, M.F.: Powder-bed-based 3D-printing of function integrated
parts. Rapid Prototyp. J. 21(2), 207–215 (2015)
5. Chen, Y., Zhou, C., Lao, J.: A layerless additive manufacturing process based on CNC
accumulation. Rapid Prototyp. J. 17(3), 218–227 (2011)
6. Lee, W.C., Wei, C.C., Chung, S.C.: Development of a hybrid rapid prototyping system using
low-cost fused deposition modeling and five-axis machining. J. Mater. Process. Technol.
214(11), 2366–2374 (2014)
7. Keating, S., Oxman, N.: Compound fabrication: A multi-functional robotic platform for digital
design and fabrication. Robot. Comput.-Integr. Manuf. 29(6), 439–448 (2013)
8. Günther, D., Heymel, B., Franz Günther, J., Ederer, I.: Continuous 3D printing for additive
manufacturing. Rapid Prototyp. J. 20(4), 320–327 (2014)
9. Song, X., Pan, Y., Chen, Y.: Development of a low-cost parallel kinematic machine for
multidirectional additive manufacturing. J. Manuf. Sci. Eng. 137(2), 297–310 (2015)
10. Stewart, D.: A Platform with six degrees of freedom. Proc. Int. Mech. Eng. 180(1), 371–386
(1965)