Abstract
Three-dimensional (3D) printing technology has been greatly developed in the last decade and gradually applied in the construction, medical, and manufacturing industries. However, limited workspace and accuracy restrict the development of 3D printing technology. Due to the extension range and flexibility of cables, cable-driven parallel robots can be applied in challenging tasks that require motion with large reachable workspace and better flexibility. In this paper, a cable-driven parallel robot for 3D Printing is developed to obtain larger workspace rather than traditional 3D printing devices. A kinematic calibration method is proposed based on cable length residuals. On the basis of the kinematic model of the cable-driven parallel robot for 3D Printing, the mapping model is established among geometric structure errors, zero errors of the cable length, and end-effector position errors. In order to improve the efficiency of calibration measurement, an optimal scheme for measurement positions is proposed. The accuracy and efficiency of the kinematics calibration method are verified through numerical simulation. The calibration experiment based on the motion capture system indicates that the position error of end-effector is decreased to 0.6157 mm after calibration. In addition, the proposed calibration method is effective and verified for measurement positions outside optimal positions set through experiments.
Highlights
Cable-driven parallel robots (CDPRs) are known as a type of parallel robots
In order to improve the printing accuracy, a kinematic calibration method based on cable length residuals is proposed
This paper presents a CDPR for 3D printing, which can improve the workspace of 3D printing
Summary
Cable-driven parallel robots (CDPRs) are known as a type of parallel robots. In CDPRs, the end-effector is suspended by several flexible cables, taking the place of rigid links in traditional rigid-link parallel robots [1,2,3]. [30] identified candidate pool of a six serial robot the of a rigid parallel mechanism, and calibrated six degrees of freedom rigid andcandidate comparedpool the characteristics of the optimal selection schemesthe based on different observability parallel using minimum number of measurement configurations. Mechanism [35] ademonstrated the distribution of the candidate pool of a rigid proposed an and efficient configuration search method that rigid is based on the closed-form mapping from mechanism, calibrated the six degrees of freedom parallel mechanism using a minimum configuration perturbations to singular-value variations. In order to improve the efficiency of cable-driven parallel robot for 3D Printing, the mapping model is established among geometric calibration measurement, scheme for measurement positions is proposed. Performance and effectiveness of the calibration method.are carried out to demonstrate the the calibration experiments based onproposed the motion capture system high performance and effectiveness of the proposed calibration method
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