【摘要】 针对开放空间工业机器人熔融沉积成形(FDM)的关键问题，研发了基于6轴关节型机器人的FDM设备及控制系统。自主设计了可辅助加热的打印头，开发了打印控制系统和机器人控制系统。通过提出打印头挤出速度和机器人运动的同步匹配方法，实现了机器人FDM装备的稳定工作。然后提出了红外热源辅助工业机器人FDM成形方法，通过工艺试验研究了辅助热源参数对制件宏观力学性能和表面粗糙度的影响规律，通过微观结构表征分析了增强机理。研究结果表明：在开放空间环境下，红外热源可有效提高基材温度，显著增强分子链在股线界面处的扩散缠结、提高界面结合强度，使得层间结合强度增大17.6%、制件表面粗糙度降低58%,验证了红外热源辅助开放空间工业机器人熔融沉积成形方法的可行性和高效性。更多还原

【Abstract】 To solve the key problems of FDM for open-space industrial robots, the FDM equipment and control system were developed based on a 6-axis articulated robot. The printing head with assisted heating was designed, and the printing control system and robot control system were developed. By proposing the synchronous matching method of printing head extrusion speed and robot motion, the stable operation of the robotic FDM equipment was realized. Then the infrared heat source-assisted industrial robotic FDM forming method was proposed, and the influence law of the auxiliary heat source parameters on the macroscopic mechanics properties and surface roughness of the fabricated parts were studied through processing tests, and the enhancement mechanism was analyzed through microstructure characterization. The results show that under the open-space environment, the infrared heat source may effectively increase the substrate temperature, significantly enhance the diffusion entanglement of molecular chains at the strand interface and improve the interfacial bonding strength, resulting in a 17.6% increase in the interlayer bonding strength and a 58% reduction in the surface roughness of the parts, which verifies the feasibility and high efficiency of the infrared heat source-assisted open-space industrial robotic FDM method.更多还原