三维增材鞋面印花机对位平台的冗余驱动控制策略

针对自动鞋面印花机在进行对版时定位精度低,影响鞋面印刷质量的问题,提出了基于冗余驱动的印花机对位平台。在原有的三轴并联机构对位平台的基础上通过增加1个Y轴,有效地提高了对位平台Y向的刚度和承载能力,从而提高了印花机对位平台的定位精度。由于冗余驱动机构运动过程中存在机构运动耦合,利用几何法进行解耦,提出了基于电子凸轮的控制策略。同时提出了对机构换向间隙补偿的控制策略,进一步提高对位平台的定位精度,保证了鞋面的印刷质量。经过实验验证,改进后的印花机对位平台Y向定位精度提高了85.7%,Z向旋转定位精度提高了72.9%,X向和Y向换向间隙分别提高了50% 和75%,Z向旋转换向间隙提高了42.86%。

Redundant actuation control strategy of positioning platform for 3-D additive printing machine

The positioning accuracy is low when aligning the screens in automatic shoe upper printing, affecting the quality of upper printing. This paper proposed a positioning platform for printing machine based on redundant actuation. By adding a Y-axis on the base of original positioning platform, the rigidity and ability to manipulate heavy loads of the Y-direction of the positioning platform was effectively improved, thereby improving the positioning accuracy of the positioning platform of the printing machine. Due to the coupling of the mechanism motion during the movement of the redundant actuation mechanism, the geometric method was used to decouple the motion and the control strategy based on the use of electronic cam was proposed. Reversing backlash compensation was adopted, which further improved the positioning accuracy of the platform hence ensured the printing quality of the shoe upper. After experimental verification, the Y-direction positioning accuracy of the printing machine platform was improved by 85.7%, and that in the Z-direction rotation 72.9%. The X-direction reversing backlash was improved by 50%, the Y-direction reversing backlash by 75%, and the Z-direction rotation reversing backlash 42.86%.