3D打印机多轴联动插补算法的研究与优化

doi:10.12068/j.issn.1005-3026.2024.01.011

摘要/Abstract

摘要：

针对3D打印过程中，打印机多轴联动插补算法计算效率低的问题和Bresenham算法在3D打印运动控制中的不足，在现有算法基础之上提出阶跃式Bresenham算法、速度自适应算法，分别完成喷嘴的成型扫描运动和浆料的挤出运动.采用两种算法相结合的方式控制3D打印机多轴联动，从而提高3D打印机的插补速度.同时分析了该控制方式在微控制器中的实现流程，并将其移植于微控制器中.本研究设计了直线插补仿真试验和不同算法的3D打印试验，证明了该控制方式在打印精度不变的前提下能够提高打印效率.

关键词: 3D打印, 多轴联动, 阶跃式Bresenham算法, 速度自适应算法

Abstract:

Aiming at the problem of low computational efficiency of printer multi-axis linkage interpolation algorithm in 3D printing process, the shortcomings of Bresenham algorithm in 3D printing motion control are analyzed. Step Bresenham algorithm and velocity adaptive algorithm are proposed on the basis of existing algorithms to complete the nozzle forming scanning motion and slurry extrusion motion respectively. The multi-axis linkage of 3D printer is controlled by combining the two algorithms to improve the interpolation speed of 3D printer. At the same time， the implementation flow of the control method in microcontrollers is analyzed， and it is then transplanted into microcontroller. Linear interpolation simulation experiments and 3D printing experiments with different algorithms are designed which prove that the control method can improve the printing efficiency on the premise of constant printing accuracy.

Key words: 3D printing, multi-axis linkage, step Bresenham algorithm, velocity adaptive algorithm

中图分类号:

TH 162

吴飞, 王梦辉, 李亦能. 3D打印机多轴联动插补算法的研究与优化[J]. 东北大学学报（自然科学版）, 2024, 45(1): 85-92.

Fei WU, Meng-hui WANG, Yi-neng LI. Research and Optimization of Multi-axis Linkage Interpolation Algorithm for 3D Printer[J]. Journal of Northeastern University(Natural Science), 2024, 45(1): 85-92.

图/表 15

图1 Bresenham算法直线插补轨迹

Fig. 1 Straight line interpolation trajectory of Bresenham algorithm

图2 阶跃式Bresenham算法直线插补轨迹

Fig. 2 Trajectory of linear interpolation of step Bresenham algorithm

图3 阶跃式Bresenham算法直线插补流程

Fig. 3 Linear interpolation process of step Bresenham algorithm

图4 喷嘴结构

Fig. 4 Nozzle structure

图5 浆料挤出示意图

Fig. 5 Schematic diagram of slurry extrusion

图6 block结构体变量示意图

Fig. 6 Schematic diagram of block structure variables

图7 直线y=1/10x插补仿真图（a）—点形式；（b）—线形式.

Fig. 7 Interpolation simulation of diagram y=x/10

表1 直线y=x/3插补轨迹生成时间对比 (ms)

Table 1 Comparison of generation time of interpolation trajectory y=x/3

算法	1	2	3	4	5	均值
常规Bresenham算法	319.715	317.334	315.452	315.184	327.304	318.998
阶跃式Bresenham算法	264.132	261.842	259.411	261.634	270.756	259.955

表2 直线y=x/10插补轨迹生成时间对比 (ms)

Table 2 Comparison of generation time of interpolation trajectory y=x/10

算法	1	2	3	4	5	均值
常规Bresenham算法	467.965	460.051	461.567	459.115	460.317	461.803
阶跃式Bresenham算法	294.162	291.649	299.319	289.462	304.438	295.806

表3 直线y=x/50插补轨迹生成时间对比 (ms)

Table 3 Comparison of generation time of interpolation trajectory y=x/50

算法	1	2	3	4	5	均值
常规Bresenham算法	610.194	609.567	610.674	608.500	608.198	609.427
阶跃式Bresenham算法	307.196	314.756	312.268	307.334	311.468	310.604

表4 直线y=x/100插补轨迹生成时间对比 (ms)

Table 4 Comparison of generation time of interpolation trajectory y=x/100

算法	1	2	3	4	5	均值
常规Bresenham算法	924.648	927.399	969.339	929.085	931.863	936.467
阶跃式Bresenham算法	319.462	324.731	321.286	317.613	321.421	320.903

表5 直线y=x插补轨迹生成时间对比 (ms)

Table 5 Comparison of generation time of interpolation trajectory y=x

算法	1	2	3	4	5	均值
常规Bresenham算法	367.447	370.639	379.707	361.058	364.097	368.590
阶跃式Bresenham算法	368.634	366.134	367.329	363.577	375.601	368.255

图8 直线y=x插补仿真图（a）—点形式；（b）—线形式.

Fig. 8 Interpolation simulation diagram y=x

图9 移植有常规算法的打印机打印结果

Fig. 9 Printing results of the conventional algorithm

图10 移植有改进算法的打印机打印结果

Fig. 10 Printing results of the improved algorithm

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