多自由度机械臂直写3D打印过程的可变角度参数影响研究

为解决传统三轴打印在曲面领域制备能力不足的瓶颈,克服阶梯效应等缺陷,本文设计研发了一种基于多自由度机械臂的直写式3D打印平台,并采用硅橡胶材料开展打印实验,系统研究了喷头打印角度对线条几何形状和多层线条成型效果的影响,最终制备出高保形性的结构样品。研究表明:改变喷头引导角进行打印时,随着喷头引导角度的增大,硅泡沫线条宽度的一致性更高,且引导角大于0°时所打印的线条横截面形状规则,多层结构的成型效果良好,并可改善大跨距下的线条塌陷问题。本文实验结果揭示了打印高保形性硅泡沫的多角度工艺规律,与传统的竖直方向或法线方向相比,喷头引导角大于0°时打印的硅泡沫结构保形性更高,可为曲面传感器、共形天线等对保形性要求较高的应用场合提供借鉴指导。

Study on the influence of variable angle parameters in 3D printing process of multi-DOF robot

In order to solve the bottleneck of insufficient preparation capability of traditional three-axis printing in the curved field and overcome the defects such as step effect, this article designs and develops a direct-writing 3D printing platform based on multi-degree-of-freedom robotic arm, and conducts printing experiments using silicone rubber material. This article systematically investigates the influence of printhead printing angle on line geometry and multilayer line forming effect, and finally prepares structural samples with high conformability. This study shows that during the printing process with changing printhead guide angle, as the printhead guide angle increases, the line wideth of silicone foam shows higher consistency. In addition, when the guide angle is greater than 0°, the line cross-sectional shape is regular and the multilayer structure is well formed, which can also improve the line collapse problem at large span. The above experimental results reveal the multi-angle process rule for printing high conformal silicon foam. Compared with the traditional vertical direction or normal direction, the conformality of the printed silicon foam structure is higher when the nozzle guidance angle is greater than 0°, which can provide guidance for applications requiring high conformality, such as curved sensors and conformal antennas.