Seminar / Project Presentation

Objective: To investigate Methods to move object in 3-D space via

robotics

Sub: MEC 218 Mechatronics 1

AY: 2021-22 ODD
The Object
The object to be moved can be of various nature;
•3D printer head
•CNC machining head/attachment
•Pallets / products
•Anything that needs to be moved, can be moved by the use of
Mechatronic arms.
In this case we will be using a 3D printing head as our object.

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 Needs
• On average a 3D printing head weighs 100g -150g.
• It moves at speeds of 50 mm per second and an acceleration of
500 mm/s^2.
• Requiring an accuracy of 0.12 mm.
• A sturdy movement system is required to achieve these characteristics.
• In this presentation we will look at movement mechanisms that can
achieve the above specifications.

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Methods
• A 3D printer by definition needs to move in 3 dimensions.
• This can be achieved by two measurement systems (Cartesian system
and polar system)
• Cartesian system consists of (x,y,z) coordinates
• Polar system consists of radius,  φ and θ
Cartesian to polar conversion
x = r sin θ cos φ
y = r sin θ sin φ
z = r cos θ

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Cartesian System
• It is the most simple movement mechanism.
• Each axis is assigned to an individual movement
mechanism.
• Most 3d printers, milling machines, CNC routing
machines, shop cranes among many use this
system due to its cost effective and simple
characteristics.

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Movement Mechanism;
• A stepper motor
• A timing belt (GT2)
• A rotatory to linear motion
converter (threaded rod)
• A linear movement guide
• A movement measurement
mechanism (end stop switch)

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With 3 axis, there are many mechanisms where different axis are
moved and others are stationary.
This can be achieved by numerous ways.
•Cartesian XY head- printer head is mounted on XY axis and Z axis is
stationary.

Dual wire gantry

Core XY mechanism

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• Cartesian-XZ-Head
The printing head is mounted on a
moving XZ axis gantry.
The y axis movement is done by the
Build plate

BUILD PLATE

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Polar Coordinate system
This is a different method of
movement in 3 dimensions.
The graph shown is the
movement mechanism in
one dimension. Three
movement mechanisms
placed 120’ apart make the
XY plane movement
possible. And moving all
three movement
mechanisms together results
in the Z direction movement.

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 The reachable area is a triangle with bulged
sides, with the ends of the triangle oriented
Top view toward the columns, which cannot be
Arm space has negligible accessed without impacting the column.
effect on the movement Then, for simplicity, the reachable area is
but can greatly increase generally considered circular.
the effector stability.

Reachable area

This is a great paper on the kinematics of delta printers:

https://reprap.org/mediawiki/images/b/b5/Rostock_Delta_Kinematics_3.pdf

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This is a Delta 3D printed.

This is the 3D printer installed

in our university.

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SCARA
• This mechanism uses two stepper motor’s to move in a XY plane.
• The lack of a linear rail system is the advantage of this system.

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Robotic Arm
A robotic arm with a 3d printing head is one of the most effective
method when printing at scale.

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Sources
https://reprap.org/wiki/RepRap
https://reprap.org/wiki/Category:Mechanical_arrangement

RepRap is humanity's first general-purpose self-replicating

manufacturing machine.

RepRap is a great community too build and develop cheap DIY 3d printers. Every
single aspect of a 3d printer is discussed there.

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THANK YOU
Any Questions?