Proceedings of the International Symposium on Mechanical Engineering and Material Science

The stability of dual-PSD based calibration system without its relative location to 3D forming of carbon fiber

Authors
Chengzhi Su, Lei Zhong, Chengyun Wang, Huzaifa Khalid, Fangchao Shao
Corresponding Author
Chengzhi Su
Available Online December 2016.
DOI
https://doi.org/10.2991/ismems-16.2016.75How to use a DOI?
Keywords
Carbon fiber, 3D forming robot, Calibration, Dual-PSD, Alignment, Lyapunov method
Abstract

The trajectory accuracy of the carbon fiber 3D forming robots is one of the key factors to ensure the quality of forming. It is well known that carbon fiber 3D forming robots have high repeatability but low accuracy. Compared to conventionally used calibration methods, dual-PSD based methods provide a more efficient way to accurately calibrate the joint offsets of industrial robots. But the stability of dual-PSD calibration system requires a strict proof in mathematics when the relationship between the robot base frame and the PSD frame is unknown. In this paper, by using an adaptive algorithm based on Lyapunov function, we can estimate the unknown parameters online without the parameters of the relationship. It is proved that the laser spots were stable to the desired positions on the dual-PSD plane. The performance is confirmed by the simulations at last. The carbon fiber 3D forming robots positioning accuracy can reach 0.0222mm when the method proposed in this paper is used successfully. In this case, the quality of the forming can be assured

Copyright
© 2016, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the International Symposium on Mechanical Engineering and Material Science
Series
Advances in Engineering Research
Publication Date
December 2016
ISBN
978-94-6252-277-0
ISSN
2352-5401
DOI
https://doi.org/10.2991/ismems-16.2016.75How to use a DOI?
Copyright
© 2016, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Chengzhi Su
AU  - Lei Zhong
AU  - Chengyun Wang
AU  - Huzaifa Khalid
AU  - Fangchao Shao
PY  - 2016/12
DA  - 2016/12
TI  - The stability of dual-PSD based calibration system without its relative location to 3D forming of carbon fiber
BT  - Proceedings of the International Symposium on Mechanical Engineering and Material Science
PB  - Atlantis Press
SP  - 444
EP  - 449
SN  - 2352-5401
UR  - https://doi.org/10.2991/ismems-16.2016.75
DO  - https://doi.org/10.2991/ismems-16.2016.75
ID  - Su2016/12
ER  -