Analysis of the Dynamic Forces of 3D Printer with 4 Degrees of Freedom

Abstract: The use of parallel mechanisms in the structure of 3D printers is developing. Parallel mechanisms have excellent capabilities in terms of accuracy, stiffness and high load-bearing capacity. This article studies a 3D printer with four degrees of freedom that has three degrees of linear freedom and one degree of rotational freedom. In this paper, the Newton-Euler analytical method is used to analyse the inverse dynamics and identify the driving forces required by the 3D nozzle motion. By coding the inverse dynamic equations in the MATLAB software environment, the driving forces diagrams are extracted based on the printer's nozzle motion. To validate the inverse dynamics relationships, simulations with the MATLAB software's Simmechanic model have been performed. By changing the speed of movement of the printer nozzle also change the velocity and acceleration of drives occur, the forces required for the drive also change. The effect of changes in print speed of a specific geometry on the driving forces is also studied.