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Conference Paper: Dynamic Modeling and Characterization of the Core-XY Cartesian Motion System

TitleDynamic Modeling and Characterization of the Core-XY Cartesian Motion System
Authors
Issue Date2018
PublisherIEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/conhome/1815224/all-proceedings
Citation
Proceedings of The 2018 IEEE International Conference on Real-time Computing and Robotics, Kandima, Maldives, 1-5 August 2018, p. 206-211 How to Cite?
AbstractCartesian motion systems have been key in the development of precise positioning machines with micro-scale accuracy for various applications. Technologies such as 3D printers, laser cutters, and automated tissue indentation platforms utilize Cartesian motion systems for improved accuracy. A promising parallel belt-driven mechanism called Core-XY has been proposed to reduce the moving load of the system. It has been demonstrated that Core-XY outperforms conventional Cartesian motion systems, where motion in each dimension is actuated by a separate motor. However, the elasticity of the belt transmission inevitably induces unneglectable errors under high running speed while moving along a defined trajectory. This project's objective is to thoroughly identify the sources of such errors by dynamic modeling of the Core-XY Cartesian motion system. Detailed dynamic modeling methods with both full degrees of freedom (DoFs) and simplified DoFs are presented. Error analysis of the Core-XY system was conducted based on the dynamic model, along with experimental validation, under different operation conditions. The proposed dynamic model attained accurate estimation of contour errors, which is important to the design of the motion controller for systems adopting Core-XY mechanism.
Persistent Identifierhttp://hdl.handle.net/10722/273052
ISBN

 

DC FieldValueLanguage
dc.contributor.authorYin, M.-
dc.contributor.authorChen, Y-
dc.contributor.authorLee, KH-
dc.contributor.authorFu, KCD-
dc.contributor.authorTse, ZTH-
dc.contributor.authorKwok, KW-
dc.date.accessioned2019-08-06T09:21:39Z-
dc.date.available2019-08-06T09:21:39Z-
dc.date.issued2018-
dc.identifier.citationProceedings of The 2018 IEEE International Conference on Real-time Computing and Robotics, Kandima, Maldives, 1-5 August 2018, p. 206-211-
dc.identifier.isbn978-1-5386-6870-2-
dc.identifier.urihttp://hdl.handle.net/10722/273052-
dc.description.abstractCartesian motion systems have been key in the development of precise positioning machines with micro-scale accuracy for various applications. Technologies such as 3D printers, laser cutters, and automated tissue indentation platforms utilize Cartesian motion systems for improved accuracy. A promising parallel belt-driven mechanism called Core-XY has been proposed to reduce the moving load of the system. It has been demonstrated that Core-XY outperforms conventional Cartesian motion systems, where motion in each dimension is actuated by a separate motor. However, the elasticity of the belt transmission inevitably induces unneglectable errors under high running speed while moving along a defined trajectory. This project's objective is to thoroughly identify the sources of such errors by dynamic modeling of the Core-XY Cartesian motion system. Detailed dynamic modeling methods with both full degrees of freedom (DoFs) and simplified DoFs are presented. Error analysis of the Core-XY system was conducted based on the dynamic model, along with experimental validation, under different operation conditions. The proposed dynamic model attained accurate estimation of contour errors, which is important to the design of the motion controller for systems adopting Core-XY mechanism.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at https://ieeexplore.ieee.org/xpl/conhome/1815224/all-proceedings-
dc.relation.ispartofIEEE International Conference on Real-time Computing and Robotics (RCAR)-
dc.rightsIEEE International Conference on Real-time Computing and Robotics (RCAR). Copyright © IEEE.-
dc.rights©2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.titleDynamic Modeling and Characterization of the Core-XY Cartesian Motion System-
dc.typeConference_Paper-
dc.identifier.emailKwok, KW: kwokkw@hku.hk-
dc.identifier.authorityKwok, KW=rp01924-
dc.identifier.doi10.1109/RCAR.2018.8621684-
dc.identifier.hkuros300194-
dc.identifier.spage206-
dc.identifier.epage211-
dc.publisher.placeUnited States-

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