中文摘要：

针对生物组织工程中多组分生物模型的三维打印问题,对电机挤出沉积式喷头、气动式微滴喷射式喷头、多材质模型路径规划及多喷头协调控制等方面进行了研究,提出了基于MAM和PAM的多喷头3D打印系统及多喷头协调控制方法,优化了PAM打印系统以提高系统打印精度,并改进了路径规划方法从而满足了多材质模型打印;最后利用多材质模型的打印实验对该系统的可行性进行了测试。研究结果表明：多喷头3D打印系统实现了多喷头之间的协调控制,实现了多材质复杂模型的打印;同时MAM和PAM喷头打印精度均满足了生物组织工程的需求,为实现高仿生结构的打印奠定了良好的基础。

英文摘要：

Aiming at solving the printing problem of multi-component model in biological tissue engineering,the MAM system,the PAM system,the path planning for multi-material model and the coordinated control of multi-nozzle were investigated. A multi-nozzle 3D printing system based on MAM and PAM was proposed. A method was presented to cooperatively control multi-nozzle. The PAM system was optimized to improve printing accuracy,and the path planning was improved to meet multi-material printing. Finally,the feasibility of the system was verified by printing multi-material model. The results indicate that the multi-nozzle 3D printing system can print the complex multi-material model by improving the path planning method,which realize the coordination control of multi-nozzle,and the printing accuracy of MAM and PAM satisfy requirements of the tissue engineering. At last,the system lays the good foundation for printing highly bionic structure.