工艺与制造英文2020被引 11
考虑重力变形的重型门式自动铺纤机运动学建模与参数辨识
Kinematic modeling and parameter identification for a heavy gantry-type automated fiber placement machine considering gravity deformation
Jianbo Wu, Liang Cheng, Yunbo Bi, An Li, An Li · Zhejiang University
摘要整理
自动铺纤机是实现高性能碳纤维增强复合材料低成本自动化制造的关键装备。为满足铺纤工艺对位置精度的要求，本文重点研究自动铺纤机的运动学建模与参数辨识方法。首先建立了考虑几何偏差的运动学模型。由于关节界面是机床重力变形的主要来源，引入弹性梁变形模型表征关节界面特性，通过各关节界面重力变形的解析表达式对运动学模型进行修正。基于测量数据和Levenberg-Marquardt优化算法实现了运动学模型的参数辨识，讨论了测量数据选择、目标函数定义等关键问题。最后进行了运动学标定实验，实验结果验证了所提建模方法的可行性和有效性。自动铺纤机Z向位置误差降低幅度超过80%，表明该方法有效抑制了重力变形的影响，显著提高了自动铺纤机的位置精度。
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