臺灣博碩士論文加值系統

本研究的目的在於以纜索驅動並聯機器人(Cable Driven Parallel Robot)
設計 3D 列印機自動換線機構，使印表機可自動換線，而完成多色與多材
料列印之功能。所提機構具有八根纜索以連接終端效應器與錨點，透過步
進馬達改變纜索長度，可控制終端效應器位置與姿態。首先，依照單噴頭
單擠出機之人工換線程序，設計自動換線機構，並訂定終端效應器尺寸，
再合成框架尺寸。接著，使用軸對齊包圍盒(Axis-aligned bounding box)做
路徑規劃，並以逆運動學計算所需纜索長度改變量。再者，以軟體進行運
動模擬，驗證模擬與規劃路徑是否相符。最後，製作雛型機以進行實驗。
由實驗結果顯示，所提機構可成功進行不同線料之自動換線。

This study aims to design an automatic filament-changer for 3D printers by
using a cable-driven parallel robot, hence the 3D printer can automatically change
filament to perform multi-color or multi-material printing. This proposed
mechanism has eight cables connecting the end effector and the anchors, and the
length of the cables can be changed by stepper motors to control the center
position and pose of the end effector. First, an extrusion mechanism based on the
filament change procedure of the 3D printer with a single nozzle and single
extruder is presented, then the sizes of the end effector and frame are designed.
Next, the AABB(Axis-aligned bounding box) method is used for path planning,
and the inverse kinematic analysis method is used to calculate the required length
of each cable. Moreover, the planned path is verified by software simulation.
Finally, a prototype is made and tested. The results of the experiment show that
the proposed mechanism can automatically change the filament to fulfill multicolor/multi-material printing.

摘要...................i
Abstract ..............ii
誌謝...................iii
目錄...................iv
表目錄.................vi
圖目錄.................vii
第一章 前言.............1
1-1 研究動機 ...........1
1-2 文獻回顧 ...........2
1-3 研究目的 ...........3
1-4 論文架構 ...........3
第二章 基本原理..........5
2-1 3D 列印機...........5
2-2 CDPR 簡介...........9
2-3 CDPR 座標轉換.......10
2-4 碰撞檢測 ...........11
第三章 路徑規劃.........14
3-1 CDPR 靜力分析.......14
3-2 路徑規劃流程 .......16
第四章 雛型機設計........19
4-1 送料設計............19
4-2 絞盤系統設計.........24
4-3 框架設計.............26
4-4 路徑規劃與模擬 ......29
第五章 雛型機製作與測試...42
5-1 雛型機製作...........42
5-2 程式製作 ............50
5-3 雛型機測試 ..........55
第六章 結論與建議........59
參考文獻................60
附錄一..................65
Extended Abstract .....71

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