Development of Algorithms and Control Programs for Implementation of the Movements of the Output Link of a Robot-Hexapod for 3D Printing of Precision Products

Abstract

The article deals with modeling of the movements performed by a hexapod robot. The aim of development is creation of the control programs, making possible production of layered volume 3D-press products or obtaining of coatings without the use of postprocessors. The objective is to develop special algorithms used in the control programs. Algorithms were constructed on the basis of the principle of a cyclic program. Due to the internal robot-hexapod's numeric registers a possibility was realized of a simplified data input to the path of movement of the tool, which can act as an extruder, or another tool with a nozzle for spraying of the working substance. With the help of the cycles in the control program sorting out of values was done within certain ranges of the numeric registers. As a result of the sorting, the control program determines a correct setting of the program, or coordinate, which is to be followed at the moment. The obtained algorithms are intended for the reciprocating and rotational movement of the working body on the trajectory. The control program is small and can easily be reconfigured for other dimensions of the resulting surface, or other parameters such as the diameter of the nozzle, number of layers, starting point and spray rate. The operation control programs were tested on a real hexapod robot in a laboratory. In addition, with the help of the software a system project, including a copy of the virtual environment, was created, in which the robot operated, as well as a virtual remote control, which made it possible to write a control program or change the numerical value of the registers. This control program was tested in a virtual environment, with a clear visualization of the robot and display of the motion path of the output link.