Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 14, issue 2
Articles | Volume 14, issue 2
https://doi.org/10.5194/ms-14-371-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-14-371-2023
© Author(s) 2023. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 14, issue 2
Research article
 | 
08 Sep 2023
Research article |  | 08 Sep 2023

Design and error compensation of a 3-degrees-of-freedom cable-driven hybrid 3D-printing mechanism

Sen Qian, Xiao Jiang, Yong Liu, Shuaikang Wang, Xiantao Sun, and Huihui Sun

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Short summary
A 3-degrees-of-freedom cable-driven hybrid 3D-printing mechanism is developed to overcome the high inertia of rigid printing mechanisms and the difficulties of mechanism analysis, a vector analysis method is proposed, and a prescribed-performance controller is designed to improve the stability and motion accuracy of the end-effector. A physical simulation environment and a prototype of the mechanisms are developed. Finally, the clay-printing experiment results show the mechanism to be feasible.
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