中文摘要：

提出一类新的四自由度并联机构,设计一种共用驱动的3D打印机器人,这种3D打印机器人一次可以打印两个或多个相同的产品。分析四自由度并联机构的运动学,工作空间,雅可比矩阵,奇异位形,得到用于设计3D打印机器人最优结构;给定动平台的运动轨迹,仿真分析驱动关节与动平台的实时位置关系;利用并联机构的控制特性,对设计的样机进行试验分析。结果表明,由于这种四自由度并联机构的特性,3D打印机器人控制简单,可以在倾斜表面上进行打印,在特定的条件下打印的物体具有更高的表面精度。

英文摘要：

We aim to develop a parallel mechanism with four degrees of freedom （DOFs） and design a 3D printingparallel robot, which shares actuated joints and can produce two or more identical products at the same time.Firstly, we analysed the kinematics, work space, Jacobian matrix and singularity of the 4-DOF parallel mechanismand then obtained the optimal design parameters of the 3D printing parallel robot. Secondly, in order to providebasis for the control of the 3D printing parallel robot, we carried out its simulation analysis by planning the motiontrack of its moving platform to find the real-time positional relationship between the actuated joints and the movingplatform. Finally, we did experimental analysis of the designed 3D Printer＇s control characteristics of the parallelmechanism. The experimental results show that because of the traits of this 4-DOFs parallel mechanism, the controlof the 3D printer is easier and the 3D printing parallel robot can produce objects on a sloping surface. Under certainconditions, the production has a higher surface accuracy.