北京林业大学学报2016，Vol.38Issue(9)：95-101,7.DOI:10.13332/j.1000--1522.20160026
并联式曲线送料平台机构误差补偿方法的研究
Mechanism error compensation method of parallel curve feeding platform
摘要
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.关键词
并联机构/曲线送料平台/误差传递矩阵/驱动补偿Key words
parallel mechanism/curve feeding platform/error transfer matrix/drive compensation分类
农业科技引用本文复制引用
孟兆新,肖定福,尹航,李尚,张聪..并联式曲线送料平台机构误差补偿方法的研究[J].北京林业大学学报,2016,38(9):95-101,7.基金项目
黑龙江省自然科学基金项目(C201339)、中央高校基本科研业务费专项(2572016EBC3)。 （C201339）
