摘要3D打印技术，即快速成形技术的一种形式，其以数字模型为基础，运用粉末状金属或塑胶等可粘合材料，通过逐层打印的方式来构造物体，常在模具制造、工业设计等领域被用于制造模型，现正逐渐用于一些高价值产品（如髋关节或牙齿）的直接制造。而现有3D打印的零件强度低、精度差、成本高、物理性能差。本课题以现有3D打印技术为基础，结合工业直角坐标机器人，设计熔融式打印喷头，实现机器人和打印头的集成控制；基于OpenGL和VC++6.0进行STL文件的数据处理，实现读取显示和分层功能；研究三维模型的直接分层算法，进行截面图像数据点研究，实现机器人截面扫描打印轨迹的运动规划，满足快速制作高强度有骨架零件的需求。63507

关键词   3D打印；机器人；分层算法；轨迹规划

毕业设计说明书（毕业论文）外文摘要

Title Robot-based skeleton 3D printing technology and its implementation

Abstract 3D printing technology,a form of rapid prototyping technology,is based on digital model and print through the layer-by-layer manner to construct objects by the use of the adhesive material of the powdered metal or plastic.In the field of mold manufacturing and industrial design,it’s often used in the manufacture of model.Now,it’s progressively being used for direct manufacturing of high-value products,such as hip,teeth and so on.However,existing 3D printing part has the disadvantage of low strength, poor accuracy,high cost and poor physical properties.The topic is based on existing 3D printing technology,combined with industrial cartesian coordinate robot and design molten print nozzle to achieve the robots and print head integrated control.Based on OpenGL and VC + 6.0,STL file can achieve reading, displaying and hierarchical functions through data processing.Study direct slicing algorithm of the three-dimensional model and data points of sectional images ,and achieve motion planning of the section sweep print track by the robot to meet the needs of rapid production of high-strength parts.

Keywords：  3D printing  robot  hierarchical algorithm  trajectory plan-ning

1  引言 1

1.1  课题的研究背景 1

1.2  3D打印技术的研究现状 1

1.3  课题主要研究内容 4

2  熔融式3D打印头研究 6

2.1  打印头的机理分析 6

2.2  打印头机械机构设计 7

2.3  打印喷头的温度控制系统设计 9

2.4  挤出熔丝的冷却过程分析 12

2.5  小结 13

3  STL文件数据处理和分层实现研究 14

3.1  STL文件格式的模型结构 14

3.2  基于OpenGL的STL模型可视化研究 15

3.3  基于STL文件的分层算法研究 16

3.4  小结 19

4  截面图像的数据点研究 20

4.1  图像的灰度值 20

4.2  基于VC++的图像数据点研究 20

4.3  数据点扫描打印轨迹规划 22

4.4  小结