A Cable-Driven Parallel Robot for 3D Printing

Although 3D-printing technology is now developing rapidly, few large-scale 3D printers have been developed. In this paper, a cable-driven parallel robot for 3D printing is developed. A cable-driven parallel robot (CPR) is proposed according to the printing requirements. Secondly, the mechanism characteristics are analyzed and the workspace of mechanism is generated based on limitation factors. Then, an experimental prototype is developed for 3D printing. The simulation and experimental results are compared in order to identify the feasibility of the mechanism. Finally, 12 error sources are analyzed to make sure the position accuracy of the mechanism.