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3. Motion Platforms and Kinematic Arrangements

Publication Type
Book Chapter
Publication Date
Page Numbers
39 to 57
Publisher Name
Publisher Location
Cambridge, Massachusetts, United States of America

Within a machine, mechanisms and motion are organized in what is known as a “kinematic arrangement,” which helps classify machines based on how they move. The most common kinematic arrangements for additive manufacturing systems are Cartesian, followed by delta, and then six-degrees-of-freedom robotic arms. However, there are a multitude of less common systems, such as the SCARA, polar robots, cable driven parallel robots, mobile platforms, and multi-agent systems. This chapter surveys these various kinematic arrangements to give a broad understanding of the mechanisms underlying motion within additive manufacturing systems. Understanding these mechanisms and their resulting motion provides a framework for discussing path planning for all scales and families of additive manufacturing.