摘要
为了提高六自由度关节臂式坐标测量机的测量精度,建立了相应的坐标系统及误差模型,并基于误差模型在Matlab软件中建立了误差仿真系统,根据误差仿真结果绘制了关节空间的误差分布图。仿真结果表明:当关节长度、杆长和测头长度的误差传递到测量结果上时,没有被放大或缩小,且不受测量机位姿的影响;而关节转角和关节扭转角误差传递到测量结果上时,被严重放大,放大效果受关节顺序和测量机位姿影响显著。最后根据分析结果对角度传感器和轴承的选择、零件的加工精度要求和测量位姿提出了建议。
The coordinate system and error model of an articulated arm coordinate measuring machine （AACMM） was established, and based on the error model the error-simulation system was developed with Matlab. Error distributions in the joint space were obtained from the error-simulation system, from which the length errors of joints, arms and the probe were transferred to the measuring result without change, and not influenced by the posture of the AACMM; however, the transfer of joint angles and joint reverse angles errors were influenced greatly by the joint order and posture. Some suggestions on the choice of angle sensors and hearings, machining accuracy of joint parts and measuring posture were presented based on the analysis results.
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2009年第8期1534-1540,共7页
Computer Integrated Manufacturing Systems
基金
国家自然科学基金资助项目(50875241)
浙江省科技计划项目重大专项资助项目(2006C11256)
杭州市科技攻关资助项目(20062422B18)~~
关键词
关节臂式坐标测量机
误差分析
运动学模型
仿真
articulated arm coordinate measuring machine
error analyzing
kinematics model
simulation
