| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 104 === Though 3D printing has received great attention, only few researches carries out the topic of combining robotic manipulators and 3D printing. This thesis, we integrate the robot with 3D printing. The proposed system utilizes the feature of high degrees of freedom and large workspace of a robot to extend the application level of 3D printing.
We divided into 2 parts. In the first part, for solving problems like joint limit avoidance and singularity avoidance, 3 potential fields have been constructed in null-space control. In addition, a faster and easier way of calculating manipulability for singularity avoidance has been developed. Another potential field designed for minimizing the orientation error of the extruder using only the Jacobian position matrix also has been illustrated and testified in the first part. In the second part of this thesis, a haptic device for human direct participation in 3D printing is designed. In assistance with such haptic device, versatile applications can be shown, more straightforward and easier human control during the 3D printing are justified.
The proposed robot 3D printing system and related theories have been justified and demonstrated through simulations and experiments. The results are promising.
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