Journal of Textile Research ›› 2020, Vol. 41 ›› Issue (10): 164-169.doi: 10.13475/j.fzxb.20191104106

• Machinery & Accessories • Previous Articles     Next Articles

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

SHEN Ruichao, CHI Xinfu, SUN Yize()   

  1. College of Mechanical Engineering, Donghua University, Shanghai 201620, China
  • Received:2019-11-14 Revised:2020-06-30 Online:2020-10-15 Published:2020-10-27
  • Contact: SUN Yize E-mail:sunyz@dhu.edu.cn

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Abstract:

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%.

Key words: printing machine, screen printing, redundant actuation, positioning platform, electronic cam, reversing backlash

CLC Number: 

  • TP23

Fig.1

3-D additive printing machine. (a) Overall structure of 3-D additive printing machine; (b) Structure of printing head"

Fig.2

Mechanism diagram of UVW positioning platform"

Fig.3

Schematic diagram of UVW platform rotation at any angle"

Fig.4

Schematic diagram of redundant actuation positioning platform around geometric center"

Fig.5

Schematic diagram of whether to reverse"

Tab.1

Measurement of X-direction reversing backlashmm"

运动
方向		 第1次 第2次 第3次 换向间
隙众数
设置值 测量值 设置值 测量值 设置值 测量值
反向 -2.500 -2.495 -2.500 -2.500 -2.500 -2.500 0.005
正向 2.500 2.495 2.500 2.500 2.500 2.505
正向 0.200 0.200 0.200 0.200 0.200 0.195 0.005
反向 -0.200 -0.195 -0.200 -0.200 -0.200 -0.195
正向 0.050 0.040 0.050 0.050 0.050 0.050 0.010
反向 -0.050 -0.040 -0.050 -0.050 -0.050 -0.050

Tab.2

Measurement of Y-direction reversing backlashmm"

运动
方向		 第1次 第2次 第3次 换向间
隙众数
设置值 测量值 设置值 测量值 设置值 测量值
反向 -2.500 -2.500 -2.500 -2.500 -2.500 -2.500 0.010
正向 2.500 2.490 2.500 2.500 2.500 2.510
正向 0.200 0.200 0.200 0.200 0.200 0.200 0.010
反向 -0.200 -0.190 -0.200 -0.210 -0.200 -0.195
正向 0.050 0.040 0.050 0.050 0.050 0.050 0.010
反向 -0.050 -0.040 -0.050 -0.050 -0.050 -0.050

Tab.3

Improved front and rear positioning accuracy comparison"

测量项目改进前后 X向平移定位
精度/mm		 Y向平移定位
精度/mm		 Z向旋转定位
精度/(°)
定位误差 改进前 0.010 0.070 0.004 8
改进后 0.010 0.010 0.001 3
换向间隙 改进前 0.010 0.040 0.001 4
改进后 0.005 0.010 0.000 8

Fig.6

Experiment platform"

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