In this paper a novel approach for sustainable 3D printing with a Linear Delta Robot equipped with elastic elements is presented and experimentally validated. Energy saving is achieved thanks to the introduction and optimization of linear springs that are mounted on the robot with different configurations: in parallel to the prismatic joints, or directly connecting the end-effector to the fixed frame. The elastic elements allow for a conversion between potential and kinetic energy during a cyclic motion, as for instance the printing of a material layer in additive manufacturing, resulting in actuators energy saving. To reduce the energy consumption, the spring parameters are optimized for the different scenarios by considering the kinematic, dynamic and electro-mechanical models of the parallel robot performing a 3D printing trajectory. The proposed approach is experimentally validated, showing an energy reduction up to almost 50% with respect to the nominal case without springs. The method is general and can be applied for energy efficiency and sustainability in several fields of robotics and computer-integrated manufacturing.

在本文中，提出了一种新型的可持续3D打印方法，该方法可通过配备有弹性元件的线性Delta机器人进行并经过实验验证。通过引入和优化安装在机器人上的线性弹簧，实现了节能，这些弹簧具有不同的配置：与棱柱形关节平行，或者将末端执行器直接连接到固定框架。弹性元件允许在循环运动期间在势能和动能之间进行转换，例如在增材制造中印刷材料层，从而节省了执行器的能源。为了减少能耗，通过考虑执行3D打印轨迹的并行机器人的运动学，动态和机电模型，针对不同的情况优化了弹簧参数。所提出的方法经过实验验证，与不带弹簧的标称情况相比，能耗降低了近50％。该方法是通用的，可用于机器人技术和计算机集成制造的多个领域中的能源效率和可持续性。