{"title":"Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3D Printer","authors":"","doi":"10.1007/s10846-024-02062-x","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> <p>As rigid robots suffer from the higher inertia of their rigid links, cable-driven parallel robots (CDPRs) are more suitable for large-scale three-dimensional (3D) printing tasks due to their outstanding reconfigurability, high load-to-weight ratio, and extensive workspace. In this paper, a parallel 3D printing robot is proposed, comprising three pairs of driving cables to control the platform motion and three pairs of redundant cables to adjust the cable tension. To improve the motion accuracy of the moving platform, the static kinematic error model is established, and the error sensitivity coefficient is determined to reduce the dimensionality of the optimization function. Subsequently, the self-calibration positions are determined based on the maximum cable length error in the reachable workspace. A self-calibration method is proposed based on the genetic algorithm to solve the kinematic parameter deviations. Additionally, the dynamic errors are effectively reduced by compensating for the elastic deformation errors of the cable lengths. Furthermore, an experimental prototype is developed. The results of dynamic error compensation after the self-calibration indicate a 67.4% reduction in terms of the maximum error along the Z-axis direction. Finally, the developed prototype and proposed calibration and compensation methods are validated through the printing experiment.</p>","PeriodicalId":54794,"journal":{"name":"Journal of Intelligent & Robotic Systems","volume":null,"pages":null},"PeriodicalIF":3.1000,"publicationDate":"2024-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Intelligent & Robotic Systems","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1007/s10846-024-02062-x","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE","Score":null,"Total":0}
引用次数: 0
Abstract
As rigid robots suffer from the higher inertia of their rigid links, cable-driven parallel robots (CDPRs) are more suitable for large-scale three-dimensional (3D) printing tasks due to their outstanding reconfigurability, high load-to-weight ratio, and extensive workspace. In this paper, a parallel 3D printing robot is proposed, comprising three pairs of driving cables to control the platform motion and three pairs of redundant cables to adjust the cable tension. To improve the motion accuracy of the moving platform, the static kinematic error model is established, and the error sensitivity coefficient is determined to reduce the dimensionality of the optimization function. Subsequently, the self-calibration positions are determined based on the maximum cable length error in the reachable workspace. A self-calibration method is proposed based on the genetic algorithm to solve the kinematic parameter deviations. Additionally, the dynamic errors are effectively reduced by compensating for the elastic deformation errors of the cable lengths. Furthermore, an experimental prototype is developed. The results of dynamic error compensation after the self-calibration indicate a 67.4% reduction in terms of the maximum error along the Z-axis direction. Finally, the developed prototype and proposed calibration and compensation methods are validated through the printing experiment.
摘要 由于刚性机器人的刚性链接惯性较大，缆索驱动并联机器人（CDPR）因其出色的可重构性、高负载重量比和宽广的工作空间，更适用于大型三维（3D）打印任务。本文提出了一种并行 3D 打印机器人，由三对控制平台运动的驱动电缆和三对调节电缆张力的冗余电缆组成。为提高运动平台的运动精度，建立了静态运动学误差模型，并确定了误差敏感系数，以降低优化函数的维度。随后，根据可到达工作空间中的最大电缆长度误差确定自校准位置。提出了一种基于遗传算法的自校准方法，以解决运动参数偏差问题。此外，通过补偿电缆长度的弹性变形误差，可有效减少动态误差。此外，还开发了一个实验原型。自校准后的动态误差补偿结果表明，沿 Z 轴方向的最大误差降低了 67.4%。最后，通过打印实验验证了所开发的原型以及所提出的校准和补偿方法。
期刊介绍：
The Journal of Intelligent and Robotic Systems bridges the gap between theory and practice in all areas of intelligent systems and robotics. It publishes original, peer reviewed contributions from initial concept and theory to prototyping to final product development and commercialization.
On the theoretical side, the journal features papers focusing on intelligent systems engineering, distributed intelligence systems, multi-level systems, intelligent control, multi-robot systems, cooperation and coordination of unmanned vehicle systems, etc.
On the application side, the journal emphasizes autonomous systems, industrial robotic systems, multi-robot systems, aerial vehicles, mobile robot platforms, underwater robots, sensors, sensor-fusion, and sensor-based control. Readers will also find papers on real applications of intelligent and robotic systems (e.g., mechatronics, manufacturing, biomedical, underwater, humanoid, mobile/legged robot and space applications, etc.).
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