大型龙门铺丝机综合误差建模及补偿

吴剑波,李俊,郑成淦,程亮

Comprehensive error modeling and compensation of a large gantry automatic fiber placement machine

Jian-bo WU,Jun LI,Cheng-gan ZHENG,Liang CHENG

表 2 补偿前、后位置和姿态误差统计数据

Tab.2 Statistical data of position and pose error before and after compensation

∆PX/mm ∆PY/mm ∆PZ/mm ∆θX/rad ∆θY/rad ∆θZ/rad 补偿前最大值 4.900 7.340 0.390 −6.51×10−3 2.15×10−3 −5.14×10−3 补偿前平均值 4.860 7.230 0.310 −6.02×10−3 1.88×10−3 −3.26×10−3 补偿后最大值 −0.092 −0.532 0.046 −7.02×10−4 −5.45×10−4 −6.79×10−5 补偿后平均值 −0.053 −0.480 0.003 −4.11×10−4 −3.00×10−4 −4.94×10−4 平均值减小 98.9% 93.4% 99.0% 93.1% 84.0% 84.8%