Design and Analysis of a Double Output 3D Printing Decoupling Parallel Manipulator

A new type of 1PRRR/3PRRRR 3T1 R parallel mechanism with four degrees-of-freedom is proposed, and a double output 3D printing robot is designed based on this parallel mechanism. The robot mechanism, which has two end effectors with a completely common motion, has symmetrically arranged legs that shared a common actuator. Analyzing the degrees-of-freedom, inverse kinematics, Jacobian matrix, coupling and singularity of this new parallel mechanism have a great contribution to select the optimal parameters of this 3D printing robot mechanism. Finally, the kinematics simulation experiment of the 3D printing robot model is carried out. The results show that the moving platform of the proposed mechanism has large rotational angles, and the 3D printing robot has the ability to print on the plane with large angles, which provides foundation for controlling the designed 3D printing robot.