论文标题
使用过滤后的B型线的Delta 3D打印机的振动补偿与位置变化的动力学
Vibration Compensation of Delta 3D Printer with Position-varying Dynamics using Filtered B-Splines
论文作者
论文摘要
Delta机器人正在成为融合细丝制造机械设计3D打印机的机械设计的流行选择，因为它比传统的串行轴设计可以达到更高的速度。像串行3D打印机一样，三角洲打印机在高速下遭受了不良振动的影响，从而降低了制造零件的质量。这种不良振动已在串行打印机中使用线性模型向前馈电控制方法（例如过滤B-Splines（FBS）方法）抑制。但是，像FBS方法之类的技术在计算上挑战是在增量3D打印机上实施，因为它们的耦合，与位置有关的动力学。 In this paper, we propose a methodology to address the computational bottlenecks by (1) parameterizing the position-dependent portions of the dynamics offline to enable efficient online model generation, (2) computing real-time models at sampled points (instead of every point) along the given trajectory, and (3) employing QR factorization to reduce the number of floating-point arithmetic operations associated with matrix inversion.在模拟中，我们使用所提出的方法报告了最高23倍的计算时间，同时与使用计算昂贵的精确LPV模型相比，保持高精度。在实验中，与基线替代方案相比，使用我们建议的控制器在三角洲3D打印机上印刷的各个位置打印的零件上表现出显着的质量改进，该替代者使用一个位置的LTI模型。通过打印过程中的加速测量，我们还表明，所提出的控制器的打印质量提升是由于与基线控制器相比，振动降低超过20 \％。
The delta robot is becoming a popular choice for the mechanical design of fused filament fabrication 3D printers because it can reach higher speeds than traditional serial-axis designs. Like serial 3D printers, delta printers suffer from undesirable vibration at high speeds which degrades the quality of fabricated parts. This undesirable vibration has been suppressed in serial printers using linear model-inversion feedforward control methods like the filtered B-splines (FBS) approach. However, techniques like the FBS approach are computationally challenging to implement on delta 3D printers because of their coupled, position-dependent dynamics. In this paper, we propose a methodology to address the computational bottlenecks by (1) parameterizing the position-dependent portions of the dynamics offline to enable efficient online model generation, (2) computing real-time models at sampled points (instead of every point) along the given trajectory, and (3) employing QR factorization to reduce the number of floating-point arithmetic operations associated with matrix inversion. In simulations, we report a computation time reduction of up to 23x using the proposed method, while maintaining high accuracy, when compared to a controller using the computationally expensive exact LPV model. In experiments, we demonstrate significant quality improvements on parts printed at various positions on the delta 3D printer using our proposed controller compared to a baseline alternative, which uses an LTI model from one position. Through acceleration measurements during printing, we also show that the print quality boost of the proposed controller is due to vibration reductions of more than 20\% when compared to the baseline controller.
