Mechanism error compensation method of parallel curve feeding platform.

MENG Zhao-xin; XIAO Ding-fu; YIN Hang; LI Shang; ZHANG Cong.

doi:10.13332/j.1000-1522.20160026

Journal of Beijing Forestry University > 2016 > 38(9): 95-101. > DOI: 10.13332/j.1000-1522.20160026

MENG Zhao-xin, XIAO Ding-fu, YIN Hang, LI Shang, ZHANG Cong.. Mechanism error compensation method of parallel curve feeding platform.[J]. Journal of Beijing Forestry University, 2016, 38(9): 95-101. DOI: 10.13332/j.1000-1522.20160026

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Mechanism error compensation method of parallel curve feeding platform.

College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin, Heilongjiang, 150040,P. R. China.

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Received Date: January 19, 2016
Published Date: September 29, 2016

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Abstract

Parallel curve feeding platform is an automatic feeding platform which is used to realize the fine woodworking band saw curvilinear cutting. Due to the large number of branches, the mechanism error is large; therefore, it is difficult to realize the precise feeding of the end position of the platform. This article starts from modeling the connecting rod motion degree appearance, using the mechanism of inverse kinematics analysis method, to get parameters of each joint and relationship equation of feeding platform position parameters. Then, we establish the mathematical model of the positive solutions of a system error and parameters and the posture error of moving platform using the vector size chain method, extract error transfer matrix associated with moving platform pose parameters, and at last get the method driven by the shaft to error compensation platform agencies. Using this method, we calculate and analyze the error of parallel curve feeding platform, and combine with MATLAB to calculate the actual error compensation values of feeding platform axes changing with processing curve. The values are put into each axis’ feeding compensation program for experimental validation on curve feed platform testing machine. The results show that this mechanism error compensation method of parallel curve feeding platform effectively reduces the end of the actuator position error. Before the compensation, the maximum error of the X axis and Y axis direction of the motion curve of the work-piece on the parallel curve feeding platform is 3 mm, and around the Z axis rotation error is 3 degrees. After the compensation, the maximum error of the X axis and Y axis direction of the motion curve of the work-piece is within 1 mm, and around the Z axis rotation error is within 1 degree. This method can significantly improve the precision of the feeding platform, and effectively compensate feeding platform error.
- parallel mechanism,
- curve feeding platform,
- error transfer matrix,
- drive compensation

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