Modeling and Simulation of a 3D Printer Based on a SCARA Mechanism

This work presents a dynamic simulation of four arms SCARA (Selective Compliance Articulated Robot for Assembly) mechanism used in 3D printers in an multidisciplinary free software. Different extruder heads, motor supply voltage and microstepping strategies were simulated to show their impact on the construction of the printed part. To do the complete analysis of the printer, it is necessary to simulate the workflow to print a part. The steps of this workflow are part modeling, G-code generation, G-code translation, inverse kinematic analysis, motion translation and dynamic analysis. After accomplishing these steps, the computation of the positioning error completes the analysis. The simulation showed that the microstepping strategy had the greater influence on the construction of the part. The extruder mass became particularly relevant when the voltage was reduced. Simulation of the complete system also showed that electrical and mechanical components can be integrated in one model, although the behavior of components of one domain can restrict the simulation performance of the entire system.