Diseño, modelación y simulación de un sistema de impresión 3d basado en sistemas de cadena cinemática cerrada con 4 grados de libertad tipo delta

Abstract

This work proposes an innovating 3D printing system based in closed kinematic chains of 4 degrees of freedom inspired in the Delta robot.Within this work, the system modeling could be found with all the equations of position, velocity and acceleration based in the generalized coordinate’s principle, LaGrange-Euler principle and the Virtual Work principle. The dynamic modeling could be found based in the energy principle and from an analog configuration of the system. The design process in this project begins with the study of the market of the 3D printing systems in order to determine the system requirement and to configure one system based in closed kinematic chains of 4 degrees of freedom. Beginning from the design and the dimensioning of its elements in order to accomplish the stablished requirements, the simulation of the system was made from the equilibrium equations found in the modelling chapter and to stablish a method to evaluate the most important system points and articular variables. Finally, the needed costs to build the designed system are determinate. This investigative project is an important development for future research in the field of Mechatronics within the Faculty of Mechanical Engineering and Ecuador.