This paper presents the concept of a spherical-motor-based motion platform (SMP) for providing high-performance nozzle-substrate negotiation in conformal printing of curved electronics. Unlike conventional motion systems using serial/parallel mechanisms for multi-DOF rotations, a ball-joint-like spherical motor for providing continuous 3-DOF rotations in one joint is designed to meet the special needs of the conformal printing process. Both the kinematic and dynamic models of the SMP are presented for fitting into the conformal printing process. Specifically, the performance of a spherical motor has been evaluated, which shows better negotiation capability of the SMP than traditional motion systems. The experimental test results performed on a prototype spherical motor have validated the design concept.

中文翻译：

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用于曲面电子保形印刷的球形电机的设计与开发


本文提出了基于球形电机的运动平台（SMP）的概念，用于在曲面电子器件的保形打印中提供高性能的喷嘴-基板协商。与使用串行/并行机构进行多自由度旋转的传统运动系统不同，一种用于在一个关节中提供连续三自由度旋转的类球关节球形电机旨在满足保形打印工艺的特殊需求。提出了 SMP 的运动学和动态模型，以适应保形印刷过程。具体来说，对球形电机的性能进行了评估，这表明 SMP 比传统运动系统具有更好的协商能力。在原型球形电机上进行的实验测试结果验证了设计理念。