工艺与制造英文2022被引 4
基于实测数据的自动铺纤机运动学建模与误差参数辨识
Kinematic modeling and error parameter identification of automated fiber placement machine based on measured data
Li Zhang, Liang Cheng, An Li, An Li · Zhejiang University
摘要整理
本文提出了一种六轴门式自动铺纤（AFP）机的运动学建模与误差参数辨识方法。采用多体系统理论对AFP机的运动学进行建模，利用齐次变换矩阵表示坐标系的转移关系。基于AFP机54个几何误差，建立了体积误差传递模型。为消除采样随机性引起的训练偏差，采用10折交叉验证结合Levenberg-Marquardt方法训练AFP机运动学模型。基于激光跟踪仪测量的空间随机点坐标，可同时辨识直线轴和旋转轴的位置相关几何误差和位置无关几何误差。误差参数辨识后，X方向随机点平均误差从0.72 mm降低至0.08 mm，下降幅度达88.9%。在机体对角线和翼梢铺纤路径上进行了相应实验验证。实验结果表明，所提出的体积误差传递模型和误差参数辨识方法能够准确预测AFP机的体积误差，满足AFP机铺纤精度要求。
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