Dataset for "A Generalized and Efficient Control-oriented Modeling Approach for Vibration-prone Delta 3D printers using Receptance Coupling"

Delta 3D printers can significantly increase throughput in additive manufacturing by enabling faster and more precise motion compared to traditional serial-axis 3D printers. Further improvements in motion speed and part quality can be realized through model-based feedforward vibration control, as demonstrated on several serial-axis 3D printers. However, delta 3D printers have not benefited from model-based controllers because their position-varying, coupled nonlinear dynamics are difficult to model accurately. In this paper, we propose a framework to obtain linear models of delta 3D printers at any position within its workspace from a few frequency response measurements. We decompose the dynamics into two sub-models--(1) an experimentally-identified sub-model containing decoupled vibration dynamics; and (2) an analytically-derived sub-model containing coupled dynamics--which are combined into one using receptance coupling.  We generalize the framework by extending the analytical model of (2) to account for differing mass profiles and dynamic models of the printer's end-effector. Experiments demonstrate reasonably accurate predictions of the position-dependent dynamics of a commercial delta printer, augmented with a direct drive extruder, at various locations in its workspace.