首页|New Robotics Findings from Hefei University of Technology Discussed (Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3 d Printer)
New Robotics Findings from Hefei University of Technology Discussed (Calibration of Static Errors and Compensation of Dynamic Errors for Cable-driven Parallel 3 d Printer)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Fresh data on Robotics are presented i n a new report. According to news reporting from Hefei, People's Republic of Chi na, by NewsRx journalists, research stated, "As rigid robots suffer from the hig her inertia of their rigid links, cable-driven parallel robots (CDPRs) are more suitable for large-scale three-dimensional (3D) printing tasks due to their outs tanding reconfigurability, high load-to-weight ratio, and extensive workspace. I n this paper, a parallel 3D printing robot is proposed, comprising three pairs o f driving cables to control the platform motion and three pairs of redundant cab les to adjust the cable tension." Financial support for this research came from National Key Research and Developm ent Program of China. The news correspondents obtained a quote from the research from the Hefei Univer sity of Technology, "To improve the motion accuracy of the moving platform, the static kinematic error model is established, and the error sensitivity coefficie nt is determined to reduce the dimensionality of the optimization function. Subs equently, the self-calibration positions are determined based on the maximum cab le length error in the reachable workspace. A self-calibration method is propose d based on the genetic algorithm to solve the kinematic parameter deviations. Ad ditionally, the dynamic errors are effectively reduced by compensating for the e lastic deformation errors of the cable lengths. Furthermore, an experimental pro totype is developed. The results of dynamic error compensation after the self-ca libration indicate a 67.4 % reduction in terms of the maximum error along the Z-axis direction."
HefeiPeople's Republic of ChinaAsiaEmerging TechnologiesMachine LearningNano-robotRoboticsHefei University of Technology
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