scholarly journals Study of a New 5-DOF Parallel Mechanism for Multi-Directional 3D Printing

2020 ◽  
Author(s):  
Yesong Wang ◽  
Changhuai Lyu ◽  
Jiang Liu ◽  
Jinguang Zhang ◽  
Zhixin Jia
Keyword(s):  
3D Printing ◽  
Parallel Mechanism ◽  
Closed Loop ◽  
Three Dimensional ◽  
Line Geometry ◽  
Vector Method ◽  
Grassmann Line Geometry ◽  
Working Performance ◽  
Geometry Method ◽  
Unstable Problem

Abstract This paper first designs a new 5-DOF parallel mechanism with 5PUS-UPU for multi-directional 3D printing, and then analyses its DOF by traditional Grubler-Kutzbach and motion spiral theory. It theoretically shows that the mechanism meets the requirement of 5 dimensions of freedoms including three-dimensional movement and two-dimensional rotation. Basing on this, the real mechanism is built, but unfortunately it is found unstable in some positions. Grassmann line geometry method is applied to analyze its unstable problem caused by singular posture, and then an improving method is put forward to solve it. With the improved mechanism, closed loop vector method is employed to establish the inverse position equation of the parallel mechanism, and kinematics analysis is carried out to get the mapping relationships between position, speed and acceleration of moving and fixed platform, Monte Carlo method is used to analyze the workspace of the mechanism, to explore the influencing factors of workspace, and then to get the better workspace. Finally an experiment is designed to verify the mechanism working performance to satisfy the spatial motion requirements of multi-directional 3D printing.

scholarly journals Kinematic Analysis and Verification of a New 5-DOF Parallel Mechanism

2021 ◽  
Vol 11 (17) ◽  
pp. 8157
Author(s):  
Yesong Wang ◽  
Changhuai Lyu ◽  
Jiang Liu
Keyword(s):  
Parallel Mechanism ◽  
Closed Loop ◽  
Three Dimensional ◽  
Line Geometry ◽  
Vector Method ◽  
Five Dimensions ◽  
Grassmann Line Geometry ◽  
Working Performance ◽  
Geometry Method ◽  
Unstable Problem

This paper first designs a new 5-DOF parallel mechanism with 5PUS-UPU, and then analyses its DOF by traditional Grubler–Kutzbach and motion spiral theory. It theoretically shows that the mechanism meets the requirement of five dimensions of freedoms including three-dimensional movement and two-dimensional rotation. Based on this, the real mechanism is built, but unfortunately it is found unstable in some positions. Grassmann line geometry method is applied to analyze its unstable problem caused by singular posture, and then an improving method is put forward to solve it. With the improved mechanism, closed loop vector method is employed to establish the inverse position equation of the parallel mechanism, and kinematics analysis is carried out to get the mapping relationships between position, speed, and acceleration of moving and fixed platform. Monte Carlo method is used to analyze the workspace of the mechanism, to explore the influencing factors of workspace, and then to get the better workspace. Finally, an experiment is designed to verify the mechanism working performance.

Development of a novel two-limbed parallel mechanism having Schönflies motion

2014 ◽  
Vol 229 (1) ◽  
pp. 136-154 ◽  
Author(s):  
Sung Mok Kim ◽  
Kyoosik Shin ◽  
Byung-Ju Yi ◽  
Wheekuk Kim
Keyword(s):  
Parallel Mechanism ◽  
Kinematic Model ◽  
Singularity Analysis ◽  
Short Description ◽  
High Potential ◽  
Haptic Device ◽  
Line Geometry ◽  
Grassmann Line Geometry ◽  
Schönflies Motion ◽  
Very High

This paper introduces a novel parallel mechanism having Schönflies motion. The mechanism consists of only two RRPaR-type limbs. After a short description of its structure, its position analysis is conducted and its screw-based kinematic model is derived. Next, its singularity analysis is performed via Grassmann line geometry and then its optimal kinematic characteristics are examined with respect to workspace size and isotropy property. The results show that the proposed parallel mechanism has a very high potential to be used as a manipulator or a haptic device. A prototype of this mechanism was developed and tested to corroborate its performance.

On the Design of Singularity-Free Cable-Driven Parallel Mechanism Based on Grassmann Geometry

2012 ◽  
Author(s):  
Yu Zou ◽  
Yuru Zhang ◽  
Yaojun Zhang
Keyword(s):  
Parallel Mechanism ◽  
Jacobian Matrix ◽  
Singularity Analysis ◽  
Geometric Meaning ◽  
Parallel Mechanisms ◽  
Line Geometry ◽  
Singular Configurations ◽  
Negative Effect ◽  
Grassmann Line Geometry ◽  
Grassmann Geometry

This paper deals with the design of singularity-free cable-driven parallel mechanism. Due to the negative effect on the performance, singularities should be avoided in the design. The singular configurations of mechanisms can be numerically determined by calculating the rank of its Jacobian matrix. However, this method is inefficient and non-intuitive. In this paper, we investigate the singularities of planar and spatial cable-driven parallel mechanisms using Grassmann line geometry. Considering cables as line vectors in projective space, the singularity conditions are identified with clear geometric meaning which results in useful method for singularity analysis of the cable-driven parallel mechanisms. The method is applied to 3-DOF planar and 6-DOF spatial cable-driven mechanisms to determine their singular configurations. The results show that the singularities of both mechanisms can be eliminated by changing the dimensions of the mechanisms or adding extra cables.

Accuracy analysis and synthesis of asymmetric parallel mechanism based on Sobol-QMC

2020 ◽  
Vol 234 (21) ◽  
pp. 4200-4214
Author(s):  
Mengli Wu ◽  
Xianqu Yue ◽  
Weibin Chen ◽  
Qi Nie ◽  
Yue Zhang
Keyword(s):  
Parallel Mechanism ◽  
Closed Loop ◽  
Jacobian Matrix ◽  
Mapping Function ◽  
Error Modeling ◽  
Accuracy Analysis ◽  
Vector Method ◽  
Evaluation Indexes ◽  
Quasi Monte Carlo ◽  
Analysis And Synthesis

Aiming at the aircraft composite skin grinding, a new three degree-of-freedom (DOF) parallel mechanism with asymmetrical structure (TAM) is proposed to replace manual grinding. The TAM is achieved by integrating one of active limbs into the passive limb while keeping the required DOF unchanged, which is divided into two closed-loop chains: telescopic rod and parallelogram. The inverse kinematics models of the two chains are established according to closed-loop vector method. Thus, the actuation and the constraint Jacobian matrix are obtained. Based on the perturbation principle, the error modeling of the TAM is built. Adopting the constraint Jacobian matrix, 15 uncompensated errors are distinguished from the error model. In order to improve the working accuracy of the TAM, accuracy analysis and synthesis are necessary for all the uncompensated errors. The mapping function reflects the influence of uncompensated errors on the pose accuracy. The global sensitivity evaluation indexes are established by mapping function. Since Sobol sequences are superior in uniformity and convergence, the Quasi-Monte Carlo method based on Sobol sequences (Sobol-QMC) is introduced for sensitivity analysis. Taking the minimum manufacturing and installation costs as the optimization target, the objective function of accuracy synthesis is constructed. Ultimately, the reasonable tolerance zone of each uncompensated error is calculated by genetic algorithm. Simulation is performed by Sobol-QMC to verify the rationality of the optimization. The results show the probability is above 97% where most pose errors are in [[Formula: see text], [Formula: see text]] within the workspace. Therefore, accuracy synthesis is correct and practical.

Geometry and Constraint Analysis of the Three-Spherical Kinematic Chain Based Parallel Mechanism

2010 ◽  
Vol 2 (3) ◽  
Author(s):  
Ketao Zhang ◽  
Yuefa Fang ◽  
Hairong Fang ◽  
Jian S. Dai
Keyword(s):  
Parallel Mechanism ◽  
Kinematic Chain ◽  
Design Parameters ◽  
Line Geometry ◽  
Symmetrical Structure ◽  
Revolute Joints ◽  
Constraint Analysis ◽  
Symmetric Plane ◽  
Grassmann Line Geometry ◽  
Selection Of

This paper presents a three-spherical kinematic chain based parallel mechanism that evolved from an origami fold. The new parallel mechanism with symmetrical structure consists of a base, a platform, and three-spherical six-bar chains as chain-legs connecting to both base and platform via revolute joints. This paper investigates the constraint of the mechanism by constructing a virtual symmetric plane that is based on the three virtual centers of the spherical chains. Revealing the geometric characteristics and constraint disposition of the constraint screw system, singularity is identified related to the constraint configuration based on Grassmann line geometry and dependency of the constraint screw system, leading to selection of the design parameters that avoid the platform singularity.

scholarly journals Efficacy evaluation of three-dimensional printing assisted osteotomy guide plate in accurate osteotomy of adolescent cubitus varus deformity

2019 ◽  
Vol 14 (1) ◽  
Author(s):  
Yuan-Wei Zhang ◽  
Xin Xiao ◽  
Wen-Cheng Gao ◽  
Yan Xiao ◽  
Su-Li Zhang ◽  
...  
Keyword(s):  
3D Printing ◽  
Blood Loss ◽  
Three Dimensional ◽  
Operation Time ◽  
Varus Deformity ◽  
Conventional Group ◽  
Intraoperative Blood Loss ◽  
Cubitus Varus ◽  
Guide Plate ◽  
Significant Difference

Abstract Background This present study is aimed to retrospectively assess the efficacy of three-dimensional (3D) printing assisted osteotomy guide plate in accurate osteotomy of adolescent cubitus varus deformity. Material and methods Twenty-five patients (15 males and 10 females) with the cubitus varus deformity from June 2014 to December 2017 were included in this study and were enrolled into the conventional group (n = 11) and 3D printing group (n = 14) according to the different surgical approaches. The operation time, intraoperative blood loss, osteotomy degrees, osteotomy end union time, and postoperative complications between the two groups were observed and recorded. Results Compared with the conventional group, the 3D printing group has the advantages of shorter operation time, less intraoperative blood loss, higher rate of excellent correction, and higher rate of the parents’ excellent satisfaction with appearance after deformity correction (P < 0.001, P < 0.001, P = 0.019, P = 0.023). Nevertheless, no significant difference was presented in postoperative carrying angle of the deformed side and total complication rate between the two groups (P = 0.626, P = 0.371). Conclusions The operation assisted by 3D printing osteotomy guide plate to correct the adolescent cubitus varus deformity is feasible and effective, which might be an optional approach to promote the accurate osteotomy and optimize the efficacy.

scholarly journals Three-dimensional(3D) printing in forensic science–An emerging technology in India

2021 ◽  
Vol 1 ◽  
pp. 100006
Author(s):  
Gargi Jani ◽  
Abraham Johnson ◽  
Jeidson Marques ◽  
Ademir Franco
Keyword(s):  
3D Printing ◽  
Forensic Science ◽  
Three Dimensional ◽  
Emerging Technology

scholarly journals Efficient 3D printing via photooxidation of ketocoumarin based photopolymerization

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Xiaoyu Zhao ◽  
Ye Zhao ◽  
Ming-De Li ◽  
Zhong’an Li ◽  
Haiyan Peng ◽  
...  
Keyword(s):  
Additive Manufacturing ◽  
3D Printing ◽  
Visible Light ◽  
Light Exposure ◽  
Three Dimensional ◽  
3D Printer ◽  
Light Penetration ◽  
Viable Solution

AbstractPhotopolymerization-based three-dimensional (3D) printing can enable customized manufacturing that is difficult to achieve through other traditional means. Nevertheless, it remains challenging to achieve efficient 3D printing due to the compromise between print speed and resolution. Herein, we report an efficient 3D printing approach based on the photooxidation of ketocoumarin that functions as the photosensitizer during photopolymerization, which can simultaneously deliver high print speed (5.1 cm h−1) and high print resolution (23 μm) on a common 3D printer. Mechanistically, the initiating radical and deethylated ketocoumarin are both generated upon visible light exposure, with the former giving rise to rapid photopolymerization and high print speed while the latter ensuring high print resolution by confining the light penetration. By comparison, the printed feature is hard to identify when the ketocoumarin encounters photoreduction due to the increased lateral photopolymerization. The proposed approach here provides a viable solution towards efficient additive manufacturing by controlling the photoreaction of photosensitizers during photopolymerization.

scholarly journals Comparative Study of Silk Fibroin-Based Hydrogels and Their Potential as Material for 3-Dimensional (3D) Printing

Molecules ◽  
2021 ◽  
Vol 26 (13) ◽  
pp. 3887
Author(s):  
Watcharapong Pudkon ◽  
Chavee Laomeephol ◽  
Siriporn Damrongsakkul ◽  
Sorada Kanokpanont ◽  
Juthamas Ratanavaraporn
Keyword(s):  
3D Printing ◽  
Silk Fibroin ◽  
Biomedical Applications ◽  
Mechanical Stability ◽  
Three Dimensional ◽  
Structure Stability ◽  
3 Dimensional ◽  
Critical Technology ◽  
Box Structure ◽  
High Degree

Three-dimensional (3D) printing is regarded as a critical technology in material engineering for biomedical applications. From a previous report, silk fibroin (SF) has been used as a biomaterial for tissue engineering due to its biocompatibility, biodegradability, non-toxicity and robust mechanical properties which provide a potential as material for 3D-printing. In this study, SF-based hydrogels with different formulations and SF concentrations (1–3%wt) were prepared by natural gelation (SF/self-gelled), sodium tetradecyl sulfate-induced (SF/STS) and dimyristoyl glycerophosphorylglycerol-induced (SF/DMPG). From the results, 2%wt SF-based (2SF) hydrogels showed suitable properties for extrusion, such as storage modulus, shear-thinning behavior and degree of structure recovery. The 4-layer box structure of all 2SF-based hydrogel formulations could be printed without structural collapse. In addition, the mechanical stability of printed structures after three-step post-treatment was investigated. The printed structure of 2SF/STS and 2SF/DMPG hydrogels exhibited high stability with high degree of structure recovery as 70.4% and 53.7%, respectively, compared to 2SF/self-gelled construct as 38.9%. The 2SF/STS and 2SF/DMPG hydrogels showed a great potential to use as material for 3D-printing due to its rheological properties, printability and structure stability.

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