Departmental Bulletin Paper インクジェット3Dプリンタ用パラレルメカニズムの設計試作

山田, 純輝

A new 6-DOF parallel mechanism stage for fixed head type 3D-Printer was designed and prototyped.By considering the operating conditions peculiar to fixed head type 3D-Printers, a slant direct drive parallel mechanism was proposed. Inverse kinematics formulas and Jacobian matrices were derived for the system development and correlation nalysis of important parameters of parallel mechanism for optimized design of joint and actuator were carried out in order to visualize movable area and manipulability. Also, a simulation program for those was fabricated by using MATLAB Simulink, theoptimal design parameters were defined and actual model was prototyped successfully.Key Words: Inkjet 3D-Printer, Parallel mechanism, Inverse kinematics, Simulator

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