In view of the large working space and poor movement/force transmission performance of the current 3D printing equipment, a three shift and two turn hybrid decoupling mechanism for a cantilever 3D printer is de-signed.Based on the principle of decoupling, a series unit decoupling branched, and using serial chain configura-tions decoupling parallel unit; according to the design of three shift two hybrid decoupling mechanism features of the general movement of the robot end set, the combination of the first class of hybrid mechanism was determined, ac-cording to the Jacobian matrix rank designed cantilever 3D printer three shift two turn parallel decoupling mecha-nism.The experimental results show that compared with the traditional hybrid mechanism, the hybrid mechanism designed has high quality work space, high movement/force transmission performance and strong practicability.%针对当前3D打印装备存在工作空间大、运动/力传递性能差的问题,设计了一种悬臂式3D打印机三移两转混联解耦机构.依据解耦原则,建立串联单元解耦支链;并利用串联支链构型构成解耦并联单元.依据机器人末端一般运动特征集设计三移两转混联解耦机构,确定第一类混联机构的组合方式;最终基于雅克比矩阵秩设计出悬臂式3D打印机三移两转混联解耦机构.实验结果表明,相对于传统的混联机构,设计的混联机构优质工作空间大、运动/力传递性能高、实用性较强.
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