Error Analysis of Vertical Beam Inclination of Delta-Robot Three-Dimensional Printers

The delta-robot 3D printer adopts the frame structure of delta-robots. It has three vertical beams which are the supporting parts of the motion and frame mechanism. The pose of the vertical beams is an error source and has the influence on 3D printing precision and printing quality. The effect of such error source on the 3D precision and quality is random and difficult to be captured by measuring instruments. To reveal the mechanism of 3D printing error caused by the pose of vertical beams, through the simulation of parallel motion mechanism and the derivation of non-ideal parallel printing model, the mechanism of error generation and the influence of error source on 3D printing precision are studied. The simulation results show that the tilted vertical beams can indeed cause the 3D printing error and further affect the 3D printing quality, and that the printing error is related to the size and direction of the rotation angles of the vertical beams.