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Modified Delta Robot based 3D Printer using Parallel Manipulation
Group # 09Attiya Rehman 2010079Hira Shaukat 2010131Talha Hisham 2010362Ubaid-ur-Rehman 2010366
OBJECTIVE
“ The development of a more accurate and efficient design for 3D printing. We will be researching on parallel manipulation with the incentive of providing a better and cheaper technique for additive manufacturing.”
• Greater Accuracy• Greater Efficiency
• Lower Manufacturing Cost• Innovative Approach
BASIC PRINCIPLE
Fused Deposition Modelling
Delta Robot Structure
Parallel Manipulators
LITERATURE REVIEW
3D Printing: “3D printing is a prototyping process whereby a real object is created from a 3D design.”
Layered Printing: Similar to an Inkjet Printer, a 3D object is made through layer by layer printing
Prototyping Technologies: Selective laser sintering (SLS) Fused deposition modelling (FDM) Stereolithography (SLA) Laminated object manufacturing (LOM) Electron beam melting (EBM)
SLS
FDM
LITERATURE REVIEW
Designing Models: – Computer Numeric Controller– Delta Robot
Delta Robot: • parallel robot• three arms connected to universal
joints at the base• key design feature – parallelograms in the
arms to maintain the orientation of end effecter.
Delta CNC
LITERATURE REVIEW
Control Parameters– Desired position of print head is achieved using position control of the
linear actuators.– Flow of material through the print head selected according to requirements
HARDWARE
The main structure
Stepper Motors Print head Bearings Material
Used
INTERFACING
G-Code Coming Firmware Control signals towards the motors
Generate a 3D Model
Save an STL Format File
Slicing the 3D into layers
G-Code Generation
Towards the Arduino
Controllers
SOFTWARE
• CAD• SLICER
EQUIPMENT
Frame :• Top and bottom frame: Hand-cut plywood• Side and Back frame: Hand-cut plywood• Fasteners: Stainless steel
Electronics :• Stepper motors: 4 (3 positioning, 1
extruder)• Endstops : 3 top endstops & 3 bottom
endstops• Electronics: Arduino Microcontrollers.• Power Supply: Depends on printhead and
motors• Fans: Cooling fans
EQUIPMENT
Linear Motion:• Fish lines: Optional• Timing belt: 3 belts (Closed loops or
open end)• Timing belt pulleys: 3 plastic pulleys with
teeth. Smaller would probably work better.
• Smooth rod: precise smooth rod - Aluminium
• Linear bearings• Ball bearings and Additional bearings
needed for extruder.
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
Research on kinematics of parallel manipulators
End of September
Designing the hardware1st week of October
Hardware manufacture3rd week of October
Hardware Testing and optimization3rd and 4th week of October
Algorithm development for position control
Starting from the end of October
Firmware implementation & simulation of algorithm
End of November
Hardware/ Software interfacing Troubleshooting1 month
Project Expansion1 month
Project documentation2 weeks
SEP 13
OCT 13
NOV 13
DEC 13
JAN 14
FEB 14
MAR 14
APR 14
TIMELINE
To be continued . . .
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