Spherical Motion Modeling and Analysis of the Printing Platform Mechanism for Addictive Manufacturing

This paper proposes a new type of printing platform mechanism as a part of 3D printing equipment. The whole printer consists of a nozzle bracket with 3 DOFs and a 3C
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US&RU printing platform with 3 DOFs. The nozzle bracket provides the position of the printed parts, and the printing platform provides its posture, so achieving kinematic decoupling. Besides, this platform can infinitely rotate around the z-axis. In this paper, the inverse kinematics of the printing platform was analyzed, the Jacobian matrix of the mechanism was solved, and the performance analysis was performed. The results showed that the printing platform can arrive at the desired workspace, so it was able to provide the required pose. The equipment is used for 3D printing, and because of its rotational properties, it can improve the surface accuracy of printed parts, especially for complex technology such as rotating body.