Cartesian 3d printer types

3. Delta FDM Printers

These printers are being seen more and more on the FDM 3D printing market. They operate with Cartesian coordinates. This involves a circular printing plate that is combined with an extruder that is fixed at three triangular points (hence the name ‘Delta’). Each of the three points then moves up and down and left and right, thereby determining the position and direction of the print head. Therefore, the manufacturing limits of these machines are defined solely by the diameter of the base and the height of the arms. Delta printers, with a fixed print tray, were designed to speed up the printing process. Another advantage of Delta printers is that they can be resized, without affecting quality. However, they can prove more difficult to calibrate.

4. FDM 3D Printing with Robotic Arms

Robotic arms are most commonly known for assembling components on industrial production lines, especially in large automotive plants. While 3D printing has begun to incorporate robotic arms into their production process, most notably seen in the 3D printing of homes and buildings, this technology still remains in the development stage. Robotic arms are primarily used for the assembly of parts.

Although not a commonly used printing process, this FDM printing method is beginning to see an increase in use. This is because the process is not fixed to a printing plate, making it much more mobile. In addition, thanks to the flexibility when positioning the FDM 3D printer head, it is easier to create complex structures, which are sometimes larger thanks to the length of the arms. It should be noted, however, that the final print quality is still far from that of conventional Cartesian printers, so many companies are working on developing it. Major manufacturers of robotic arms include Kuka and ABB, whose solutions are used by many companies including COBOD and Massive Dimension.

Hybrid 3D printers

Hybrid manufacturing is defined as a combination of additive (3D printing) and subtractive (CNC machining, milling) methods in a single solution. It is a machine that allows the exchange of tools for model creation. In the case of FDM 3D printers that incorporate subtractive heads, most tend to have a Cartesian structure. However, there are other cases, such as the Kraken project, which rely on a robotic arm capable of extruding material, but which also use subtractive methods, making it a hybrid manufacturing project. It should be remembered that any solution that incorporates both technologies will have a higher price tag, although the benefits can be far greater as it expands the capabilities of part creation.

Hybrid 3D printers offer more printing possibilities.

Which type of FFF / FDM 3D printer do you use? Let us know in a comment below or on our Facebook and Twitter pages. Don’t forget to sign up for our free weekly newsletter, with all the latest news in 3D printing delivered straight to your inbox!

Kinematics of 3D printers: what are the best types

Kinematics of 3D printers - which device to choose?

The print quality of a 3D printer and how it works depends on several factors. One of the important indicators is kinematics. This article discusses its main types and their features.

• What is the kinematics of 3D printers?
• Kinds and types of kinematics

What is the kinematics of 3D printers?

Each 3D printer has its own kinematics. Models are equipped with a platform and an extruder. These parts move in a certain direction relative to each other. Kinematics in such a device means the scheme along which the extruder and platform move.

Types and types

There are five types of 3D printer kinematics. The principle of operation of the device and the method of processing the workpiece depend on their features.

Cartesian 3D printers

The most common are 3D printers with Cartesian kinematics. They are based on the Cartesian coordinate system, they work in the X, Y and Z axes. They set the coordinates by which the print head changes position relative to the platform. The printhead has limitations in terms of movement in three axes.

1. The extruder moves up when the platform moves in the horizontal X or Y axis.
2. The platform moves up in the Z axis, the extruder can move in the horizontal directions at this moment.
3. The platform moves along one of the axes in height, the extruder rises along the other axis.
4. The platform is static and does not move, the extruder moves in all three axes.
5. The extruder moves along the coordinates in height, and the platform moves along the X and Y axes.

The most common options during operation are the first and second.

Cartesian kinematics has a number of advantages.

• This is a simple motion pattern suitable for hobby printing. Many budget models work on its basis.
• The printer can be produced in any dimensions, if necessary, it is upgraded.
• Consumables are freely available. Users are offered a large number of materials and colors.
• The printers can be shipped unassembled. This feature allows beginners in the world of 3D printing to understand the principle of the mechanism.
• Devices based on the Cartesian system, suitable for mass production of parts. They are designed to create blanks of different sizes.

Among the shortcomings of printers built on the principle of three coordinate systems, there are two factors:

• models are bulky, after assembly they take up a lot of space on the desktop;
• The print speed is slow.

Cartesian kinematic printers suitable for hobby printing. They help beginners understand the process of work and learn how to create models.

Example of printing on a device with Cartesian kinematics.

Varieties of Cartesian kinematics CoreXY and H-Bot

CoreXY has two feed belts, while H-Bot has only one, but it is long - this is the main difference between the two varieties. The common feature in these devices based on Cartesian kinematics is that the platform moves only along the Z axis. The horizontal X and Y axes are moved by a pair of motors mounted on the frame.

Two motors are responsible for the movement along the horizontal axes, one motor along the vertical ones. Such kinematics is common not only in amateur printers, but also in professional ones.

CoreXY and H-Bot based 3D printers are more expensive than conventional Cartesian models. For the production of their cases, a metal alloy or composite materials are used. Rail guides unleash the potential of high-quality printing. This kinematics allows you to achieve good detail with fast printing.

The advantages of CoreXY and H-Bot are:

• high print speed;
• quality detailing of models;
• professional use grade.

But not without drawbacks:

• H-Bot is not implemented on steel shafts;
• the belt tension must be constantly monitored to avoid play;
• high cost of instruments;
• belts can wear out quickly if they rub against neighboring objects during operation, this factor must be taken into account during operation;
• the pulleys on which the belts move must be located strictly perpendicular to each other.

Cartesian kinematic printers are widely used in various industries. They are distinguished by high print detail, a durable metal case, and high-quality components.

Help! Cartesian kinematics allows you to create detailed objects at high speed.

Delta Printers

Delta kinematic printers differ from their competitors in a number of ways. The table remains stationary, and three fixed axes are used to move the print head at once. In such devices, there is no division into the X, Y and Z axis. To move the carriage sideways, you need to lower one axis, and raise the rest.

Help! In the production of 3D printers, the Delta kinematics has not yet found wide distribution. This is a promising direction, which is currently being developed by developers.

Already existing delta printers offer the following advantages.

• Small dimensions. Devices do not take up much space on the desktop, they are tall, but not wide.
• High print speed. Models can process 300–400 mm/s.
• A new approach to blank production. The equipment does not print using the same technology as Cartesian. It is interesting to watch the process of processing the model.

Deltas also have a few disadvantages.

• Calibration complexity. A lens is formed on the printed surface, due to which it is impossible to fully calibrate the printing process. This is the main factor slowing down the mass introduction of kinematics.
• Poor accuracy. High print speeds sacrifice accuracy. All axes perform small movements, errors occur.
• Computing power requirement. Deltas are equipped with 32-bit boards, which is why they do not support interaction with 8-bit systems.
• The frame must be rigid. This is necessary to avoid backlash, deviations and distortions.
• Not all extruders will fit. Deltas have weight restrictions, so direct type extruders are not allowed.

Printing accuracy remains high.

On deltas, you can build high-quality vertical models, even with large dimensions. There are no protruding parts on the body, which allows you to independently increase its rigidity.

Polar

The polar kinematic scheme is presented only by one company - Polar. The essence of this technology lies in the fact that it does not have positioning along the X, Y and Z axes. The position of the extruder is set by the angle and radius. The platform of polar 3D printers is round in shape, it moves only along the horizontal axis and only rotates in a circle. The extruder moves up and down.

The advantages of 3D printers based on polar kinematics are:

• the ability to create large objects;
• high energy efficiency;
• material savings;
• small dimensions.

But there are also disadvantages:

• low printing accuracy, which was started by Polar representatives;
• platform does not warm up during operation;
• material handling restrictions - ABS plastic cannot be processed.

Polar printers are less accurate than Cartesian and Delta printers. The manufacturer recommends using such models for educational purposes; they are not yet suitable for professional printing.

Printing example shows that accuracy cannot be achieved. All features are blurred, the figure lacks sharpness and clarity.

With robotic arms

Printers with robotic arms are a design with a mechanically programmable extruder gripper arm. This is a multifunctional robot: it can carry out welding, painting, milling, etc.

The extruder can move in different directions: in layers, along complex paths in three dimensions, at different angles. Thanks to this set of functions, it is possible to create complex structures.

The main advantages are:

• versatility: the device can perform several types of tasks when replacing the extruder;
• are suitable for industrial applications: you can print large objects with almost no size restrictions.

But there are also disadvantages:

• low accuracy: such equipment is inferior to Cartesian kinematics;
• large size: devices take up a lot of work surface space.

These models are not suitable for professional 3D printing. They can be considered as an object for a hobby or a tool for it. For industrial purposes, such devices work only when high precision in the execution of parts is unimportant.

SCARA

SCARA (Selective Compliance Articulated Robot Arm) is a kinematics based on horizontal rotation of the platform. The movement is achieved by the articulation of the linkage mechanism.

These instruments are highly accurate and repeatable, and operate with a minimum of noise and vibration. SCARA also surpassed the Cartesian models in terms of processing detail: the difference is that the former work noticeably faster.

Advantages of such kinematics:

• print accuracy;
• high workpiece processing speed;
• small dimensions and weight.

But there are also disadvantages:

• stiffness restrictions in the area of ​​the X and Y axes;
• high cost;
• is not the widest area of ​​use.

SCARA kinematic devices are devices that combine the functions of a 3D printer and a manipulator. Device actions are programmed through software or an installed mobile application.

The choice of kinematics for 3D printers depends on the requirements for technology and application.

1. Cartesian models remain the most common. They combine high accuracy, good speed, small dimensions. They can be used for amateur 3D printing. They work in a Cartesian coordinate system, the platform and the extruder move along the X, Y, Z axes.
2. CoreXY and H-Bot are varieties of Cartesian kinematics. They are highly detailed blanks, suitable for professional use. Their disadvantage is the complexity in the process of operation. The user must constantly ensure that the belts do not come into contact with foreign objects and are well tensioned.
3. Delta printers are uncommon models whose weak point is print accuracy. In the process of working with the device, there are problems with calibration, as well as with the choice of extruder.
4. Polar printers are produced by only one company - Polar. These devices cannot provide high accuracy of the workpiece, so they are used only for educational purposes. During operation, the platform does not warm up, which limits the choice of materials.
5. Robotic 3D printers are versatile devices that are used for more than just model making. Such devices can mill, weld, paint. The technique is inferior in accuracy to the Cartesian varieties.
6. SCARA is one of the modern kinematics, which can not be used in all areas. It features high precision and good printing speed, it can be used as a professional instrument. The main disadvantage of SCARA is its high price.

• February 17, 2020
• 9984

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Start with a polar 3d printer

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Hello! I have long wanted, I have been burning with a 3d printer for a long time. It burned when this movement was not yet so diversified, and apparently burned out. :o But years passed, periodically thoughts returned and disturbed the mind, and finally they got a chance to be realized ...

So I would like to share some thoughts about my project, I will be sincerely grateful for advice, criticism, comments and in general, any useful information on the subject. Let's clarify a couple of things right away. This is my first experience in the field of 3d printing, but I am well acquainted with similar CNC milling machines, I have a specialized education in this area, and also worked as a CNC machine operator and currently I work as a technologist-programmer of 3-axis milling machines with CNC.

So. I drew attention to the polar schemes of printers (rotating 3D printers), compared to conventional Cartesian printers, they are distinguished by a lower material consumption of the design, smaller dimensions with a larger print volume, and judging by information from the network, this type has promising characteristics of print speed. Well, in general, as for me, this design attracts with its overall simplicity and 'elegance'.

In terms of mechanics, I want to take the design of Pimaker 3D as a basis.

I think this is the most successful layout at the moment, with which you can achieve high-quality and fast printing among polar 3D printers. Aluminum frame (bed), guides of round section with linear bearings. The Z-axis guides will simultaneously serve as a support for attaching the upper beam, so I will make them bold Ø25-30mm. Bearings from China, guides will most likely be made on their own. Ball screws from the same China or a home-made pair of screw + nut will be used as drives. This is due to the desire to get the highest possible quality and print speed. In addition, there are ideas to use heavier extruders for printing clay materials. I think the platform for the extruder should be made with the ability to quickly change the working tool.

But with electronics there are questions . ... and a lot :oops: Namely, what to control and with what software? The ideal option, in view of my meager knowledge of electronic components, would be to have some kind of ready-made solution. For me, this is the main issue at the moment, which stops the development of the mechanical part. Perhaps because of this issue, you will have to abandon the polar coordinates altogether.

In general, it would be interesting to hear the opinions of experienced users about such an undertaking. Does this design have the right to life? Does it make sense to bother? Has anyone tried to do something similar? Perhaps someone wants to do it? At worst, maybe someone has some kind of useful information.

Best regards, Andrey!

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11/29/2022

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Greetings! The Chinese bearing crumbled in the midst of printing (8 hours of printing down the drain).

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