【摘要】 为了解决打印时机器的自由度过低的问题，将机器人与3D打印技术结合在一起，选取六自由度的UR3机器人为研究对象，分析其在打印零件时各关节的位置、速度、加速度变化情况，验证是否能满足工况要求。在MATLAB软件中的机器人工具箱Robotics Toolbox进行机械臂建模与正逆运动学仿真分析，在VREP中使用具体模型进行逆运动学分析与仿真，在切片软件CURA中进行切片分析，模拟3D打印的过程，在ADAMS中生成UR3机器人各关节的位置、速度、加速度曲线。分析结果表明：基于UR3机器人的3D打印在增加打印自由度的同时，运动性能良好，满足工况要求。更多还原

【Abstract】 In order to solve the problem of low degrees of freedom of the machine during printing, the robot is combined with 3D printing technology. The UR3 robot with six degrees of freedom is selected as the research object, and the changes in the position, velocity, and acceleration of each joint when printing parts are analyzed to verify whether it can meet the requirements of the working conditions. Modeling and forward/inverse kinematics simulation analysis of a robotic arm were conducted using the Robotics Toolbox in MATLAB software. Specific models were used for inverse kinematics analysis and simulation in VREP, and slicing analysis was performed in CURA software to simulate the 3D printing process. The position, velocity, and acceleration curves of each joint of the UR3 robot were generated in ADAMS. The analysis results indicate that 3D printing based on UR3 robot has good motion performance while increasing printing degrees of freedom, meeting the requirements of working conditions.更多还原