Delta 3D printers can significantly increase throughput in additive manufacturing by enabling faster and more precise motion compared to conventional serial-axis 3D printers. Further improvements in motion speed and part quality can be realized through model-based feedforward vibration control, as demonstrated on serial-axis 3D printers. However, delta machines have not benefited from model-based controllers because of the difficulty in accurately modeling their position-dependent, coupled nonlinear dynamics. In this paper, we propose an efficient framework to obtain accurate linear parameter-varying models of delta 3D printers at any position within their workspace from a few frequency response measurements. We decompose the dynamics into two sub-models–(1) an experimentally-identified sub-model containing decoupled vibration dynamics; and (2) an analytically-derived sub-model containing coupled dynamics–which are combined into one using receptance coupling. We generalize the framework by extending the analytical model of (2) to account for differing mass profiles and dynamic models of the printer’s end-effector. Experiments demonstrate reasonably accurate predictions of the position-dependent dynamics of a commercial delta printer, augmented with a direct drive extruder, at various positions in its workspace. Note to Practitioners—This work aims to equip high-speed 3D printers, like delta machines, with model-based controllers to complement their speed with high-accuracy. Due to the coupled kinematic chains of the delta, complex control methodologies, some of which require real-time state measurements, are often used to achieve satisfactory control performance. Our modeling approach provides an efficient methodology for obtaining accurate linear models without the need for real-time measurements, thus enabling practitioners to design linear model-based feedforward controllers to achieve the high throughput and accuracy desired in additive manufacturing (AM). The models we develop in this paper are intended for use with feedforward vibration compensation methods, which can be beneficial for both industrial-scale AM machines that have high-powered servo motors and feedback controllers, as well as consumer-grade AM machines which use stepper motors in feedforward control.
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Mixed‐Transducer Micro‐Origami for Efficient Motion and Decoupled Sensing
This work introduces a mixed‐transducer micro‐origami to achieve efficient vibration, controllable motion, and decoupled sensing. Existing micro‐origami systems tend to have only one type of transducer (actuator/sensor), which limits their versatility and functionality because any given transducer system has a narrow range of advantageous working conditions. However, it is possible to harness the benefit of different micro‐transducer systems to enhance the performance of functional micro‐origami. More specifically, this work introduces a micro‐origami system that can integrate the advantages of three transducer systems: strained morph (SM) systems, polymer based electro‐thermal (ET) systems, and thin‐film lead zirconate titanate (PZT) systems. A versatile photolithography fabrication process is introduced to build this mixed‐transducer micro‐origami system, and their performance is investigated through experiments and simulation models. This work shows that mixed‐transducer micro‐origami can achieve power efficient vibration with high frequency, large vibration ranges, and little degradation; can produce decoupled folding motion with good controllability; and can accomplish simultaneous sensing and actuation to detect and interact with external environments and small‐scale samples. The superior performance of mixed‐transducer micro‐origami systems makes them promising tools for micro‐manipulation, micro‐assembly, biomedical probes, self‐sensing metamaterials, and more.
more » « less- NSF-PAR ID:
- 10493673
- Publisher / Repository:
- Wiley Blackwell (John Wiley & Sons)
- Date Published:
- Journal Name:
- Small
- ISSN:
- 1613-6810
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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