Axis action optimization method for six-axis robot in three-dimensional printing equipment

Abstract

The invention provides an axis action optimization method of a six-axis robot in three-dimensional printing equipment. The method comprises the steps that S1, structural lattice matrix model data of a to-be-printed 3D model is collected; S2, the structural lattice matrix model data are imported into a 3D printer; S3, an axis joint needing to be optimized is selected; S4, a to-be-printed target point in the structural lattice matrix model data is defined as a target origin coordinate P; S5, a mechanical transformation structural formula is established between the target origin coordinate P and the to-be-optimized axis joint; and S6, according to the action angle required by the axis joint, the action track angle of the printing target origin coordinate P is reversely deduced from the mechanical transformation structural formula. The invention discloses the convenient and stable axis action optimization method suitable for the six-axis robot in the three-dimensional printing equipment.

Description

technical field [0001] The invention relates to the field of mechanical automation control, in particular to a method for optimizing axis motion of a six-axis robot in a three-dimensional printing device. Background technique [0002] The mainstream of 3D printing is divided into hierarchical printing and spatial structure printing according to the printing path. Generally use abs, pla, concrete, metal surfacing, thermosetting materials, etc. The present invention can be applied to all the above printing methods. [0003] At present, the main method of robot 3D printing is to describe a series of 3D space points and transmit them to the robot in the form of offline files. The end tool head itself reaches the target point. [0004] A traditional six-axis robot includes a drive connection between the body rotation axis A1 of the base and the 3D printing head, the drive connection body rotation axis A1, the arm movement axis A2, the forearm movement axis A3, the wrist rotati...

AI Technical Summary

Problems solved by technology

In the prior art, the methods used, for example, patent: CN201811562534.8, a method for optimizing the trajectory of manipulator joints based on time grouping; and patent: CN201310145357.4, a method for optimizing the trajectory of mobile manipulators based on genetic algorithms The public ones all adopt the method of optimizing the motion trajectory, which requires a lot of time for numerical iterative optimization, and the operation is cumbersome, and the initial optimization of the action is achieved, and the optimization effect is not good.

Images