Dynamic Modeling and Characterization of the Core- XyCartesian Motion System

Cartesian 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.