便携式三坐标测量仪误差标定方法

从三关节的便携式关节型三坐标测量仪入手,研究了便携式关节型三坐标测量仪的误差来源;在现有误差标定方法的基础上,提出了一种新型的机械结构误差标定方法和提高精度的措施,为进一步实现便携式关节型三坐标测量仪的误差补偿和精度的提高奠定了基础.     

基于牛顿-欧拉法的4-UPS-UPU并联机构动力学方程

采用牛顿-欧拉法建立了空间并联机构的动力学方程,用于研究4-UPS-UPU五自由度空间并联机构的刚体动力学建模。分析了4-UPS-UPU并联机构的支链受力和动平台受力情况,基于牛顿-欧拉法推导出了该并联机构的刚体动力学方程。利用Matlab分别对动平台在空载和加载条件下的驱动力进行理论计算,得到了该机构5个驱动杆的驱动力。最后,利用ADAMS对4-UPS-UPU并联机构虚拟样机进行了动力学仿真分析。结果表明:并联机构在Z轴为0.95m的平面内按半径为0.01m的圆轨迹运动时,驱动杆1受力最大,空载时最大值达-760.6N,加载时最大值达-889.7N。理论计算结果和虚拟样机仿真结果基本一致,验证了理论模型的正确性。该项研究为4-UPS-UPU五自由度并联机构物理样机的制造奠定了理论基础,也为其他空间并联机构刚体动力学建模提供了思路。     

三环减速器的弹性静力分析

通过考虑三环传动的过约束特性和机构的弹性变形协调奈件，建立了针对三环减速器受力分析的弹性静力学模型，并用该模型分析了某型三环减速器的受力情况，以厦三环减速器的结构型式和轴承刚度对其受力情况的影响。     

A novel parallel sensor with six rigid compliant limbs for measuring six- component force/torque

A novel parallel sensor with six rigid/compliant hybrid limbs and six standard force sensors is developed for measuring the six-component force/torque. The measuring theory and performances are studied. A prototype of the robot hybrid hands with the parallel sensor is developed. A prototype of the parallel sensor is built up and its merits and performances are analyzed. A statics equation among the forces of the standard force sensors and the whole external load and a stiffness model of the parallel sensor are established based on its equivalent parallel mechanism. The force/torque of the parallel sensor is measured under the given external load. The theoretical solutions of the statics model of the parallel sensor are obtained and verified by both the experimental measuring solutions of the prototype of the parallel sensor and the simulation solutions of a FE model.

     

快速探测的坐标测量机动态误差计算分析

快速探测是提高坐标测量机工作效率的有效手段，同时还必须要保证原有的测量精度。采用有限元分析方法（FEM）对快速探测过程中由惯性力和驱动力产生的动态误差进行了预测，分析结果是合理的，为后继的动态误差补偿工作打下了良好的基础。     

Quality control and process capability assessment for injection-moulded micro mechanical parts

Quality control of micro components is an increasing challenge. Smaller mechanical parts are characterized by smaller tolerance to be verified. This paper focuses on the dimensional verification of micro injection-moulded components selected from an industrial application. These parts are measured using an optical coordinate measuring machine, which guarantees fast surface scans suitable for in-line quality control. The uncertainty assessment of the measurements is calculated and three analyses are carried out and discussed in order to investigate the influence parameters in optical coordinate metrology. The estimation of the total variability of the optical measurements and the instrument repeatability are reported; moreover, the measurement system capability is evaluated according to the measurement system capability indices Cg and Cgk.     

三坐标测量机在反求工程中的研究

零件原型数字化就是通过特定的数字化测量工具来获得零件几何数据的过程。以某汽轮机叶片为基础,介绍了利用接触式三坐标测量机获取零件三维数据的步骤和方法,即通过装夹零件、标定测头测杆、工件坐标系的建立、测量打点、数据输出等步骤得到零件的几何三维数据。最后通过实例的操作,得到了叶片的点云数据,并分析了在手动打点过程中产生测量误差的原因及其改善措施。实例表明,确定合理的测量路径、建立合适的零件坐标系、确定合适的测点个数、均匀的测力及其操作经验,可以提高点云的精度。     

新型关节臂坐标测量机的设计

关节臂坐标测量机是一种新型非正交系坐标测量设备,相比传统的三坐标测量机,具有体积小、重量轻、灵活、轻便等特点,现已在机械制造、电子、汽车和航空航天等领域得到应用,具有巨大的应用前景.在前期工作的基础上设计出一种六自由度关节臂坐标测量机,该关节臂坐标测量机关节零件采用航空铝合金材料、连杆采用碳纤维材料,因而具有强度高、重量轻的特点,内置式平衡机构可减轻操作者劳动强度,精密的关节角度传感器保证了测量机的高精度.基于Open CASCADE和VC++6.0平台开发了关节臂坐标测量机的测量软件和标定软件,并进行了整机的联机调试,验证了系统的可靠性.     

Authentication of the 31 species of Toxic and Potent Chinese Materia Medica (T/PCMM) by microscopic technique, part 2: Three species of seed T/PCMM

Toxic and Potent Chinese Materia Medica (T/PCMM) are being used more and more in the treatment of various diseases. In view of their toxic side effects and to ensure their safe use, accurate and reliable authentication is indispensable. However, identifying characteristics of T/PCMM are seldom reported, even though modern microscopy can provide ample, unique identifying characteristics from cells found in transverse sections and powders. In particular, no systematic authentication studies on seed T/PCMM have been conducted. In the course of our study on 31 T/PCMM originating from plants, animals, minerals, and secreta, an accurate and convenient method, based on microscopic techniques, has been developed and reported for the authentication of animal T/PCMM. The present study deals with detailed investigations on three species of seed T/PCMM, namely Semen Hyoscyami (Hyoscyamus niger L.), Semen Euphorbiae (Euphorbia lathyris L.), and Semen Strychni (Strychnos nux-vomica L.). The macroscopic characters are here described in detail, and the microscopic characters were conclusively determined by common and polarized light microscopy. Results showed that these three T/PCMM can be easily identified by the present method even when powdered and combined. Thus, the microscopic method is applicable for authentication of the earlier three T/PCMM, and the morphological and microscopic characteristics described here are proposed as parameters to establish the authenticity of these three T/PCMM.     

基于UG汽车转向器上护罩在逆向设计中的误差分析

针对采用三坐标测量机对转向器上护罩进行逆向设计后生成的三维模型,通过UG软件建模及分析功能,把建立的模型与该零件原形相比较,进行详细的尺寸误差分析,探讨误差产生的基本原因和减小误差的基本方法,确立了测量方法的正确途径。     

三坐标测量机动态误差的建模方法

为了提高三坐标测量机的测量速度,缩短测量周期,分析了影响给定的三坐标测量机动态误差的因素。对三坐标测量机的具体和了分析,用电感测微仪进行了动态偏转角的测量,并推导出由动态偏转误差得到测头处的动态位移误差的方法。同时,对由导轨的直线度造成的误差进行了讨论。指出动态误差主要是由各构件绕气浮导轨连接处的偏转和各运动构件本身的弯曲变形造成挫理论上可以证明,在气浮导轨力矩刚度和横梁弯曲刚度已知的情况下,只要     

Design and analysis of experiments in CMM measurement uncertainty study

In applying a coordinate measuring machine to measure a mechanical object, many factors affect the measurement uncertainty. Although a number of studies have been reported in evaluating measurement uncertainty, few have applied the factorial design of experiments (DOE) to examine the measurement uncertainty, as defined in the ISO Guide to the Expression of Uncertainty in Measurement (GUM). This research applies the DOE approach to investigate the impact of the factors and their interactions on the uncertainty while following the fundamental rules of the GUM. The measurement uncertainty of the location of a hole measured by a coordinate measuring machine is used to demonstrate our methodology.     

基于数控铣床的测量加工一体化系统研究

介绍了一套自行研制的基于数控铣床的测量、造型和加工集成系统.该系统通过为数控铣床装配坐标测量功能,使其担负起坐标测量机的任务,初步实现了产品的测量、造型和加工一体化.论文较详细介绍了系统的构成、工作原理和实验结果等.     

Development of a parametric model and virtual machine to estimate task specific measurement uncertainty for a five-axis multi-sensor coordinate measuring machine

Any combination of contact and non contact sensors on a single coordinate measuring machine makes it a multi-sensor or hybrid coordinate measuring machine. The ability to change the probing device without re-establishing the part coordinate system is a significant advantage and consequently the reason for their wide acceptance and usage. In addition to the existing three linear stages in a conventional or hybrid coordinate measuring machine, the number of axes can be augmented with two rotary stages in order to make them more versatile. This not only complicates the metrology loop but also adds more parametric errors to existing list of known 21 errors for a three stage conventional measuring machine. Also different probing sensors in the system have different metrology loops. Literature survey reveals that there is no previous or current work on estimation of task specific uncertainty for machines of this class with a wide potential for measuring complex parts quickly and with great ease. The current work focuses on developing a virtual measuring machine of this class which incorporates a parametric model of a five-axis multi-sensor coordinate measuring machine, techniques to estimate the parametric errors in the model and error correction strategies for the same. The virtual machine is used to mimic real time measurements in order to come up with estimates for task specific measurement uncertainty.     

多关节坐标测量机的误差模型

按Denavit-Hartenberg方法,建立了多关节坐标测量机末端测头中心相对于机座参考坐标系的测量运动的数学模型。在此基础上,运用矩阵函数的全微分方法,建立起末端测头中心坐标误差与测量运动模型参数误差之间的传递关系。为进一步研究多关节坐标测量机的标定和补偿奠定了理论基础。     

Stewart平台式六维力测量装置研究与设计

:利用Stewart平台结构特点 ,开发一种新型的六维力测量装置。根据Stewart平台的静力学关系 ,建立了六维力测量装置的数学模型。给出了Stewart平台上平台所受的六维力和 6个支承腿所受拉压力的关系 ,并进行了结构设计和测量系统设计     

可移动多维坐标结晶器内腔尺寸自动测量机的系统设计

介绍了一种专用于工字钢结晶器的可移动多维坐标尺寸测量机;概述了测量机的工作原理与机械结构,讨论了运动控制系统的设计和测量路径的规划等问题。     

Tool wear monitoring in ramp cuts in end milling using the wavelet transform

Tool wear identification and estimation present a fundamental problem in machining. With tool wear there is an increase in cutting forces, which leads to a deterioration in process stability, part accuracy and surface finish. In this paper, cutting force trends and tool wear effects in ramp cut machining are observed experimentally as machining progresses. In ramp cuts, the depth of cut is continuously changing. Cutting forces are compared with cutting forces obtained from a progressively worn tool as a result of machining. A wavelet transform is used for signal processing and is found to be useful for observing the resultant cutting force trends. The root mean square (RMS) value of the wavelet transformed signal and linear regression are used for tool wear estimation. Tool wear is also estimated by measuring the resulting slot thickness on a coordinate measuring machine.     

Full-pose calibration of a robot manipulator using a coordinate-measuring machine

The work reported in this article addresses the kinematic calibration of a robot manipulator using a coordinate measuring machine (CMM) which is able to obtain the full pose of the end-effector. A kinematic model is developed for the manipulator, its relationship to the world coordinate frame and the tool. The derivation of the tool pose from experimental measurements is discussed, as is the identification methodology. A complete simulation of the experiment is performed, allowing the observation strategy to be defined. The experimental work is described together with the parameter identification and accuracy verification. The principal conclusion is that the method is able to calibrate the robot successfully, with a resulting accuracy approaching that of its repeatability.