Development of the Method of Generating Programmed Trajectories of the End Effector of a 3D Printer for Additive Technologies Based on a Spatial Manipulation Mechanism

Abstract

This article presents the results of the development of a robotic complex that performs the additive technologies based on a spatial manipulator. The quality of three-dimensional printing depends on the continuous movement of the end effector—an extruder, along a trajectory that is set in the generalized coordinates or in the Cartesian space. In this paper, we proposed a method for the generating programmed trajectories of the end effector of the manipulation mechanism by specifying a set of node points, and the movement between them is carried out along straight-line movements. To complete this purpose, the inverse kinematics problem of position is solved at each time instant. The developed algorithm was implemented in the MATLAB that allowed determine the values of the generalized coordinates, velocities, accelerations, and forces during the motion of the links corresponding to the given points of the trajectory in spatial manipulator configurations.