| The feed system is one of the core parts of high-end CNC equipment such as CNC machine tools and industrial robots.Its performance directly determines the overall performance and accuracy of CNC equipment.In order to improve the accuracy and dynamic performance of CNC equipment,dual motor drive technology is increasingly used in feed systems with high precision and dynamic performance requirements.However,due to its manufacturing errors,assembly errors,and deformation and wear in the process of using,there will still be geometric errors,which will affect the positioning accuracy of the feed system.Therefore,in this paper,the dual-drive twodimensional workbench is taken as the research object,and theoretical and experimental research on geometric error modeling,error measurement and identification,and error compensation experiment are systematically conducted.The main research contents and innovations are as follows:(1)The principle and structure of dual-drive two-dimensional workbench are expounded.According to the characteristics of dual-drive,the error analysis of dualdrive two-dimensional workbench is conducted.The geometric error model of dualdrive two-dimensional workbench is established by using multi-body system theory and homogeneous coordinate transformation method,and the influence of geometric error on the positioning accuracy of dual-drive two-dimensional workbench is analyzed.(2)A measurement method of geometric errors of two-dimensional dual-drive workbench is designed,then the geometric errors of dual-drive two-dimensional workbench are measured by using interferometer.The straightness errors are identified according to the six-point location law of a spatial rigid body.and the measurement results are processed by the least square method,which provides a basis for error compensation.(3)The dual motor control technology and error compensation method are analyzed,and a virtual axis electronic cam error compensation strategy suitable for dual-drive feed system is proposed.According to the characteristics of the workbench and its numerical control system,the virtual axis electronic cam error compensation method is designed to compensate the positioning error in the feed direction,by combining the virtual axis control strategy and the electronic cam motor control technology.(4)The experiment system of dual-drive two-dimensional workbench is designed and established,then error compensation software based on BECKHOFF motion control system is developed.The error compensation experiment of dual-drive twodimensional workbench is conducted,then the positioning error of workbench before and after error compensation is measured.Finally the results of error compensation are analyzed. |
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