三自由度电缆驱动混合3d打印机构的设计与误差补偿

IF 1 4区工程技术 Q4 ENGINEERING, MECHANICAL

Mechanical Sciences Pub Date : 2023-09-08 DOI:10.5194/ms-14-371-2023

Sen Qian, Xiao Jiang, Yong Liu, Shuaikang Wang, Xiantao Sun, Huihui Sun

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引用次数: 0

摘要

摘要在大规模3D增材制造（AM）中，刚性打印机构表现出高惯性和不足的负载能力。本文提出了一种全约束三自由度索驱动混合机构。为了分析皮带轮系统的运动学和动力学，提出了一种考虑误差补偿的矢量分析方法。为了满足缆索驱动机构对缆索力范围的严格要求，为提高末端执行器的稳定性和运动精度，为非线性缆索系统设计了一种具有自适应辅助系统的规定性能控制器。利用李雅普诺夫函数证明了控制系统的稳定性。使用Simscape开发了一个物理仿真环境来验证矢量分析方法和PPC。随后，开发了一个三自由度CDHR的实验样机。误差补偿实验和规定性能控制器实验的结果表明 % 最大平面误差的减小和95.376 % 与非补偿轨迹相比，考虑误差补偿的PPC的最大高度误差的减小。最后，通过双层粘土印花实验验证了该机理的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design and error compensation of a 3-degrees-of-freedom cable-driven hybrid 3D-printing mechanism

Abstract. In large-scale 3D additive manufacturing (AM), rigid printing mechanisms exhibit high inertia and inadequate load capacity. In this paper, a fully constrained 3-degrees-of-freedom (DOFs) cable-driven hybrid mechanism (CDHR) is developed. A vector analysis method considering error compensation in the pulley system is proposed for analysing the kinematics and dynamics. To address the cable-driven mechanism's strict cable force range requirement, a prescribed-performance controller (PPC) with an adaptive auxiliary system is designed for the nonlinear cable system to enhance the stability and motion accuracy of the end-effector. The stability of the control system is proven using the Lyapunov function. A physical simulation environment using Simscape is developed to verify the vector analysis method and the PPC. Subsequently, an experimental prototype of a 3-DOF CDHR is developed. The results of the error compensation experiment and the prescribed-performance controller experiment demonstrate a 93.321 % reduction in maximum plane error and a 95.376 % reduction in maximum height error for the PPC considering error compensation compared to the non-compensation trajectory. Finally, a double-layer clay-printing experiment is conducted to validate the feasibility of the mechanism.

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来源期刊

Mechanical Sciences ENGINEERING, MECHANICAL-

CiteScore

2.20

自引率

7.10%

发文量

审稿时长

29 weeks

期刊介绍： The journal Mechanical Sciences (MS) is an international forum for the dissemination of original contributions in the field of theoretical and applied mechanics. Its main ambition is to provide a platform for young researchers to build up a portfolio of high-quality peer-reviewed journal articles. To this end we employ an open-access publication model with moderate page charges, aiming for fast publication and great citation opportunities. A large board of reputable editors makes this possible. The journal will also publish special issues dealing with the current state of the art and future research directions in mechanical sciences. While in-depth research articles are preferred, review articles and short communications will also be considered. We intend and believe to provide a means of publication which complements established journals in the field.