中文摘要：

描述一种直线型Delta结构3D打印机的结构,对结构进行了一定等效简化。以该3D打印机机械本体为研究对象,对其运动学反解以及速度反解进行分析与研究,推导出运动学反解方程以及速度反解公式。

英文摘要：

This paper studies the kinematic characteristics of a linear Delta structure 3Dprinter.The printer is composed of a fixed platform,a movable platform and three branches,and the mechanical body is a linear Delta structure.The structure of the 3Dprinter is described and simplified to some extent.With the 3D printer as the research object,this paper analyzes the kinematics reverse solution and inverse velocity of the 3Dprinter,based on which the inverse kinematics equation and inverse velocity formula are derived.It provides a theoretical basis for the application of linear Delta structure 3Dprinter in practical work.