Annals of Robotics and Automation


    Open Access Research Article Article ID: ARA-5-109

    Modelling, Design and Validation of a Parallel Kinematic Robot for Additive Manufacture Applications

    Marcel Lahoud*, Leonardo Melendez and Arturo Gil

    The additive manufacture is a fabrication process that has taken huge steps in the last decade, even though the first researches and prototypes are around since almost forty years ago. In this article, a design method for a Parallel Kinematics Robot for Additive Manufacturing Applications is proposed. A numerical model is obtained from the kinematics of the robot for which the design, construction and assembly are planned using recycled materials and equipment. The control of the robot is done using open source software, allowing the planning of trajectories in the Cartesian space on a maximum designed cylindrical workspace of 300mm in diameter by 300mm high. At the end of the work the robot was identified, the kinematic model was validated and considerations for future works were given.


    Published on: Jun 11, 2021 Pages: 19-29

    Full Text PDF Full Text HTML DOI: 10.17352/ara.000009
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