Abstract
A parallel robot is defined as a mechanism of closed kinematic chains with rigid movements, high speed, precision and better inertias, in respect to those with structures composed by open links. besides these configurations describe highly nonlinear behaviours, reflected in the complexity of their kinematic and kinetic models. Finally, these systems are integrated with control techniques that obtain the desired trajectories in this paper for continuous 3D printing applications. For this reason, the development of control techniques based on dynamics by torque control law using drivers for the actuators maintaining the desired torque are described, these control techniques allow to obtain continuous behaviours in the final effector in order to make uniform impressions for biopolymer scaffolds.
Highlights
Additive manufacturing is the basis of bio-printing systems for tissue engineering, in which an extruder head deposits material in successive layers, with movement guided by computational algorithms
In the development of pieces, it is important to correlate the geometric properties of the deposited material with the mechanical structure that will orient the printing system, because the inertia of the mechanism must be minimized in order to generate continuous paths reflected in the final effector [1,2]
Its main advantage lies in its large work space, and the number of configurations the final effector can reach, giving up the precision by the accumulated error in the joints, in addition to high control efforts by the sum of the moments of inertia generated by each element, which is reflected in actuators of higher torque and cost, compared to closed kinematic chains[3]
Summary
Additive manufacturing is the basis of bio-printing systems for tissue engineering, in which an extruder head deposits material in successive layers, with movement guided by computational algorithms. As for the dynamic calculation, the implementation of the position, velocity and acceleration derivatives of the final effector is considered to know the value of the forces to be exerted to perform a movement or vice versa [10] Control algorithms such as PIDs (proportional, integral and derivative) are designed that work with linear models [11], or techniques such as Sliding Modes that base their operation on the non-linear model, considering system uncertainties and external disturbances [12, 13]. This document presents two control techniques for a Hexa-type platform; because it performs its movements according to the position of rotational actuators, which allows continuous behaviour in the final effector with respect to those whose transmission is carried out by mechanisms such as an endless screw, since these discretize the movements in function of the screw pitch. The requirements of additive manufacturing such as continuous printing and precision will be analysed, compared to the control efforts in order to select the technique that best suits the needs of the project
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