MOBILE 3D PRINTER WITH MECHANICAL PROCESSING FOR MANUFACTURING MINING EQUIPMENT PARTS
Nugman Y. Mustafa A. Kaiyrov R. Sagyntai M. Turgunov Z.
2025National Academy of Sciences of the Republic of Kazakhstan
News of the National Academy of Sciences of the Republic of Kazakhstan, Series of Geology and Technical Sciences
2025#2025Issue 2180 - 196 pp.
Modern industrial sectors, including mining, geological exploration, and mechanical engineering, play a key role in the economic development of the Republic of Kazakhstan. Their efficient operation depends on the quality of manufacturing and restoration of technological equipment components. However, the production and repair of such components require significant costs, and their restoration in remote areas is complicated by the lack of specialized machinery, leading to additional expenses and downtime. To address these challenges, this study proposes the concept of a mobile 3D printer with an integrated mechanical processing system. The primary focus is on developing a manipulator that ensures precise positioning of the welding nozzle and spindle, which perform key functions in the printing process and subsequent mechanical processing. The manipulator must operate within a workspace range of X ±250 mm, Y ±250 mm, Z ±200 mm. Its selection is justified based on criteria such as structural rigidity and positioning speed. Direct and inverse kinematics problems were solved to determine the working area and dimensions of the manipulator. Homogeneous Denavit–Hartenberg transformation matrices were constructed, and Jacobian matrices were obtained to establish the relationship between input and output velocities and accelerations. The proposed concept has significant potential for the rapid production and restoration of technological equipment components in remote areas. Implementing this technology will reduce production costs, minimize equipment downtime, and enhance the technological independence of industrial enterprises.
direct kinematics , geological exploration equipment , inverse kinematics , manipulator , metal 3D printer , WAAM , workspace
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Department of Mechanical Engineering, Satbayev University, Almaty, Kazakhstan
Laboratory of Applied mechanics and Robotics, Karagandy State University named after E.A. Buketov, Karaganda, Kazakhstan
LLP “RnD Center”, Almaty, Kazakhstan
Department of Mechanical Engineering
Laboratory of Applied mechanics and Robotics
LLP “RnD Center”
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