3 d printer

Modified Delta Robot based 3D Printer using Parallel Manipulation

Group # 09Attiya Rehman 2010079Hira Shaukat 2010131Talha Hisham 2010362Ubaid-ur-Rehman 2010366

OBJECTIVE

“ The development of a more accurate and efficient design for 3D printing. We will be researching on parallel manipulation with the incentive of providing a better and cheaper technique for additive manufacturing.”

• Greater Accuracy• Greater Efficiency

• Lower Manufacturing Cost• Innovative Approach

BASIC PRINCIPLE

Fused Deposition Modelling

Delta Robot Structure

Parallel Manipulators

LITERATURE REVIEW

3D Printing: “3D printing is a prototyping process whereby a real object is created from a 3D design.”

Layered Printing: Similar to an Inkjet Printer, a 3D object is made through layer by layer printing

Prototyping Technologies: Selective laser sintering (SLS) Fused deposition modelling (FDM) Stereolithography (SLA) Laminated object manufacturing (LOM) Electron beam melting (EBM)

SLS

FDM

LITERATURE REVIEW

Designing Models: – Computer Numeric Controller– Delta Robot

Delta Robot: • parallel robot• three arms connected to universal

joints at the base• key design feature – parallelograms in the

arms to maintain the orientation of end effecter.

Delta CNC

LITERATURE REVIEW

Control Parameters– Desired position of print head is achieved using position control of the

linear actuators.– Flow of material through the print head selected according to requirements

HARDWARE

The main structure

Stepper Motors Print head Bearings Material

Used

INTERFACING

G-Code Coming Firmware Control signals towards the motors

Generate a 3D Model

Save an STL Format File

Slicing the 3D into layers

G-Code Generation

Towards the Arduino

Controllers

SOFTWARE

• CAD• SLICER

EQUIPMENT

Frame :• Top and bottom frame: Hand-cut plywood• Side and Back frame: Hand-cut plywood• Fasteners: Stainless steel

Electronics :• Stepper motors: 4 (3 positioning, 1

extruder)• Endstops : 3 top endstops & 3 bottom

endstops• Electronics: Arduino Microcontrollers.• Power Supply: Depends on printhead and

motors• Fans: Cooling fans

EQUIPMENT

Linear Motion:• Fish lines: Optional• Timing belt: 3 belts (Closed loops or

open end)• Timing belt pulleys: 3 plastic pulleys with

teeth. Smaller would probably work better.

• Smooth rod: precise smooth rod - Aluminium

• Linear bearings• Ball bearings and Additional bearings

needed for extruder.

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

Research on kinematics of parallel manipulators

End of September

Designing the hardware1st week of October

Hardware manufacture3rd week of October

Hardware Testing and optimization3rd and 4th week of October

Algorithm development for position control

Starting from the end of October

Firmware implementation & simulation of algorithm

End of November

Hardware/ Software interfacing Troubleshooting1 month

Project Expansion1 month

Project documentation2 weeks

SEP 13

OCT 13

NOV 13

DEC 13

JAN 14

FEB 14

MAR 14

APR 14

TIMELINE

To be continued . . .