DEVELOPMENT OF A METAL 3D PRINTER USING A 3-UPU PARALLEL MANIPULATOR

This paper explores the potential application of a 3-UPU manipulator as a design for a metal 3D printer. To determine the working area of the 3-UPU manipulator, its inverse kinematics were investigated. Using the Denavit-Hartenberg method, the required lengths of the manipulator’s prismatic pairs were analytically calculated based on the coordinate system transformation matrices. The obtained results were verified by numerical methods in MATLAB program and the correctness of analytical solutions was confirmed. The study showed that the working area of the 3-UPU manipulator is 800x800x600 mm, which is large enough for metal 3D printers. This work area gives you the ability to print from small parts to large parts as well as body parts. The precise positioning and dexterity of the 3-point manipulator ensures sufficient precision in part production. This working area makes it possible to print from small parts to large parts as well as body parts. The positioning accuracy and dexterity of the 3UPU manipulator provides sufficient accuracy in part production. This accuracy of part fabrication reduces the post-processing time of parts by machining, resulting in less material consumption for chips and wear of cutting tools. This research work can provide a scientific basis to enable the 3-UPU arm to be used in metal 3D printers. Future research following this work is planned to explore issues such as improving the dynamic model of the manipulator and increasing its efficiency by optimizing control algorithms. Keywords: 3-UPU manipulator, additive manufacturing, working area, metal 3D printer, inverse kinematic.