现代制造工程 ›› 2025, Vol. 540 ›› Issue (9): 25-32.doi: 10.16731/j.cnki.1671-3133.2025.09.004

• 增材制造 • 上一篇    下一篇

基于速度平滑和前瞻补偿的六自由度机械臂颗粒料3D打印运动-挤料协同控制方法

刘沁翔1, 张秋菊1, 孙沂琳2   

  1. 1 江南大学机械工程学院,无锡 214122;
    2 江苏集萃复合材料装备研究所有限公司,无锡 214171
  • 收稿日期:2025-01-13 出版日期:2025-09-18 发布日期:2025-09-23
  • 通讯作者: 张秋菊,博士,教授,主要研究方向为智能机器人与智能测控技术。E-mail:qjzhang@jiangnan.edu.cn。
  • 作者简介:刘沁翔,硕士研究生,主要研究方向为复合材料3D打印。E-mail:liu_qinxiang@163.com。

Collaborative control method for 3D printing motion-extrusion of six-axis robot arm with granular material based on speed smoothing and forward compensation

LIU Qinxiang1, ZHANG Qiuju1, SUN Yilin2   

  1. 1 School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;
    2 Jiangsu Composite Equipment Research Institute Co.,Ltd.,Wuxi 214171,China
  • Received:2025-01-13 Online:2025-09-18 Published:2025-09-23

摘要: 现有六轴机械臂3D打印运动-挤料协同控制方法多针对丝材挤出方式,对颗粒料挤出方式优化有限。为解决六轴机械臂颗粒料3D打印存在的机械臂末端运动速度与挤料速度不匹配问题,搭建了一台六轴机械臂颗粒料3D打印机,提出了基于速度平滑和前瞻补偿的六轴机械臂颗粒料3D打印运动-挤料协同控制方法,针对抬升点、转角处等工况进行了优化。结果表明,通过对模型进行打印测试,打印零件时线宽均匀,改善了材料堆积或缺失现象,验证了该方法的可行性。

关键词: 六轴机械臂, 3D打印, 速度平滑, 前瞻补偿, 协同控制

Abstract: The existing collaborative control methods for the extrusion and the movement of six-axis robotic arms are mostly focused on filament extrusion methods,while the optimization for granular material extrusion methods is limited. To address the issue of motion asynchrony between end-effector motion speed and material extrusion speed in six-axis robotic arm granular material 3D printing,a six-axis robotic arm granular material 3D printer is constructed,and a coordinated control approach for six-axis robotic arm granular material 3D printing system based on speed smoothing and look-ahead algorithm is proposed. Optimization is carried out for working conditions such as lifting points,and corner points.The results indicate that the line width of the printed parts is uniform,the material accumulation or missing can be avoided,and the feasibility of this method is verified.

Key words: six-axis robot arm, 3D printing, speed smoothing, forward compensation, collaborative control

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