| Summary: | 碩士 === 國立臺灣大學 === 工程科學及海洋工程學研究所 === 104 === This study aims to develop 3D-printing path planning algorithms and applies to a three-axial pneumatic parallel manipulator. The emphasis is on the research of 3D-printing path planning algorithms, integrating the three-axial pneumatic parallel manipulator which has developed on its kinematic analysis and controller design in lab before, and verifying the performance through the whole system simulations and experiments.
In path planning algorithms for 3D printing, the desired-printing object was established from graph theory as vector form. From the view of a layer, all sub-paths are defined through the depth-first search, and the genetic algorithm is used to find the minimum costs linking sub-paths. After cascading all layers, the overall path is accomplished.
In analysis of kinematics, the geometric method is introduced to solve the relation of manipulator between actuated joints and moving platform through vector-loop closure equations, including inverse and forward kinematics.
In controller design, control strategy of single-axial pneumatic servo system is applied with dual-loop feedback control scheme, i.e. inner pressure control and outer position control. Based on that, controller of three-axial pneumatic parallel manipulator is established with extra inverse dynamics control strategy to decouple the nonlinear terms.
Finally, numerical simulations are carried out to verify the correctness of the derived models and the path-planning trajectories. To show the practicality, real-time experiments are implemented in the test rig of three-axial pneumatic parallel mechanism robot with the same trajectories in simulations for testifying the control performance and the possibility of 3D printing integrating with three-axial pneumatic parallel manipulator.
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