Research On Curved Surface Printing Motion System Technology Of Multiaxial System Based On Spherical Motor

Nowadays,multiaxial systems are widely used in various fields of modern industrial processing,such as grinding,surface finishing,printing,pick and place,assembly,and metallurgy.There are many types of multi-axis systems where CNC machines and industrial robots are the most typical.Such devices are usually complicated in structure and large in volume.For traditional five-axis machine tools,they have good performance in kinematics character,but due to their own structural models,they are often accompanied by singularity.The curved surface printing process is continuous and sensitive to speed changes.As a new multiaxial system,the spherical motor has the flexible motion characteristics of three rotational degrees of freedom,which can be combined with the three-translational-degreeof-freedom mobile platform to forms a six-degree-of-freedom platform.The spherical motor possesses the characteristics of rapid response,small volume,simple structure,good kinematics performance and nonsingularity,so it is suitable for curved surface printing.This article details the path planning of the motion fit of a spherical motor for curved surface printing,including kinematic modeling,inverse kinematics calculation and its optimization model proposed by combining Lagrange multiplier method of six-degree-offreedom spherical motor mobile platform;An algorithm for limiting the range of ? displacement.The acceleration and deceleration method based on smoothstep function is used to plan the feed rate to avoid excessive acceleration which may cause vibration and shock during printing process.Simulations were performed using theoretical analysis of kinematics optimization models and velocity planning.The simulation result is used as the input of the subsequent control system,and the experimental platform of the spherical motor mobile platform is constructed.The printing trajectory tracking experiment was carried out,which verifies the feasibility of the spherical motor in surface printing.