3D打印机速度规划算法研究与优化

文章在现有速度规划算法的基础上提出T-S速度曲线模型。采用梯形速度曲线完成路径规划，得到各阶段的位移及临界点速度；利用贝塞尔曲线将加速阶段、减速阶段改成S形加减速曲线，完成整个路径段的速度规划；结合前瞻算法提出新的速度规划算法。仿真结果表明，该算法既解决了由于加速度突变而引起的柔性冲击问题又兼顾规划效率。通过振动信号采集，验证该算法在抑制振动冲击上的优势。通过实物打印试验，验证该算法明显提高了打印模型品质。

This paper introduces the T-S velocity curve model based on existing velocity planning algorithms. Following the completion of path planning using the trapezoidal velocity curve, the displacement and critical point velocity for each stage are determined. Subsequently, the acceleration and deceleration stages are transformed into S-shaped acceleration and deceleration curves using the Bezier curve to achieve velocity planning for the entire path segment. Simulation results demonstrate that the proposed algorithm effectively addresses the issue of flexible impact resulting from sudden acceleration changes while ensuring planning efficiency. Finally, the algorithm’s advantage in suppression of vibration shock is validated through vibration signal acquisition. Physical printing experiments further confirm a significant improvement in the quality of the printed models.