Fixed head and movable stage type of printer using tripod parallel mechanism

Abstract

A rotational-type tripod parallel mechanism has a larger motion space and greater tilt angles. The tripod parallel mechanism for a movable stage has three legs translating on the ground. A prototype printer of the tripod parallel mechanism with rotary and linear actuators is designed and fabricated. An object is set on the movable stage of the tripod parallel mechanism a printer head is fixed over the movable stage. The motion paths of the actuators are calculated by the MATLAB-Simulink and SimMechanics block model of the parallel mechanism.