3 d printer

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The student group aims to develop a more accurate and efficient 3D printer design using a modified delta robot with parallel manipulation. They plan to research the kinematics of parallel manipulators, design the hardware, manufacture and test a prototype, develop position control algorithms, implement firmware, interface hardware and software, and expand and document the project over a timeline spanning September 2013 to April 2014. The goal is to provide a better and cheaper additive manufacturing technique through an innovative parallel manipulation approach with benefits like greater accuracy, efficiency and lower manufacturing costs.

Technology Business

Modified Delta Robot based 3D
Printer using Parallel Manipulation
Group # 09
Attiya Rehman 2010079
Hira Shaukat 2010131
Talha Hisham 2010362
Ubaid-ur-Rehman 2010366

OBJECTIVE
“ The development of a more
accurate and efficient design
for 3D printing. We will be
researching on parallel
manipulation with the
incentive of providing a
better and cheaper technique
for additive manufacturing.”
• Greater Accuracy
• Greater Efficiency
• Lower Manufacturing Cost
• Innovative Approach

BASIC PRINCIPLE
Fused Deposition Modelling
Delta Robot Structure
Parallel Manipulators

LITERATURE REVIEW
3D Printing:
“3D printing is a prototyping process whereby a real object is created from a 3D
design.”
Layered Printing:
Similar to an Inkjet Printer, a 3D object is made through layer by layer printing
Prototyping Technologies:
Selective laser sintering (SLS)
Fused deposition modelling (FDM)
Stereolithography (SLA)
Laminated object manufacturing (LOM)
Electron beam melting (EBM)
SLS
FDM

LITERATURE REVIEW
Designing Models:
– Computer Numeric Controller
– Delta Robot
Delta Robot:
• parallel robot
• three arms connected to universal
joints at the base
• key design feature – parallelograms in the
arms to maintain the orientation of end
effecter.
Delta CNC

LITERATURE REVIEW
Control Parameters
– Desired position of print head is achieved using position control of the
linear actuators.
– Flow of material through the print head selected according to requirements

HARDWARE
The main
structure
Stepper
Motors
Print head Bearings
Material
Used

INTERFACING
G-Code Coming Firmware
Control signals
towards the motors

Generate a
3D Model
Save an STL
Format File
Slicing the
3D into
layers
G-Code
Generation
Towards the
Arduino
Controllers
SOFTWARE
• CAD
• SLICER

EQUIPMENT
Frame :
• Top and bottom frame: Hand-cut plywood
• Side and Back frame: Hand-cut plywood
• Fasteners: Stainless steel
Electronics :
• Stepper motors: 4 (3 positioning, 1
extruder)
• Endstops : 3 top endstops & 3 bottom
endstops
• Electronics: Arduino Microcontrollers.
• Power Supply: Depends on printhead and
motors
• Fans: Cooling fans

EQUIPMENT
Linear Motion:
• Fish lines: Optional
• Timing belt: 3 belts (Closed loops or
open end)
• Timing belt pulleys: 3 plastic pulleys with
teeth. Smaller would probably work
better.
• Smooth rod: precise smooth rod -
Aluminium
• Linear bearings
• Ball bearings and Additional bearings
needed for extruder.

Research on kinematics of parallel
manipulators
End of September
Designing the hardware
1st week of October
Hardware manufacture
3rd week of October
Hardware Testing and optimization
3rd and 4th week of October
Algorithm development for position
control
Starting from the end of October
Firmware implementation
& simulation of algorithm
End of November
Hardware/ Software interfacing
Troubleshooting
1 month
Project Expansion
1 month
Project documentation
2 weeks
SEP
13
OCT
13
NOV
13
DEC
13
JAN
14
FEB
14
MAR
14
APR
14
TIMELINE

GENUINE SAMSUNG TONER COSTS 30 PERCENT LESS THAN NON-GENUINE TONERS. Did you know that using non-genuine toner could damage your printer, costing you more in the long run? Tests performed by Buyers Laboratory Inc. (BLI), an independent research organization, determined that up to 47 percent of non-genuine toners failed during their lifetimes, whereas genuine Samsung toner had no printer failures or errors when used under the same conditions.* There are also hidden costs to consider when you compare non-genuine toners with genuine Samsung toner. For example, non-genuine toners can cause a number of printing failures, including damage to the printer. According to the BLI test results, issues can vary from major image-quality defects and memory chip failures to toner flaking and excessive printer noise, resulting in costly repairs and part replacements. Based on gathered data, the total cost of genuine Samsung toner is about 30 percent less than the total cost of non-genuine toners.**

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