并联六坐标测量机的测量空间模型和测量模型

为深入研究并联坐标测量机的工作空间、控制算法和测量精度等,必须对其进行机构位置分析,建立和求解测量空间模型和测量模型是位置分析基本任务,是一项核心技术,为降低测量模型建立和求解的难度,设计了演化Stewart型的并联六坐标测量机,介绍了其特点,建立了所设计并联六坐标测量机位置分析的坐标系,采用矢量分析法和等效机构法,分别获得了测量空间模型和测量模型,利用Matlab语言编制程序,得到了不同初始条件下两种模型的数值解,通过计算机仿真验证了两种模型的正确性。测量空间模型和测量模型的研究为并联六坐标测量机的性能分析提供了依据。

Measuring space model and measuring model for six-freedom-degree CMM in parallel

In order to study the working space, control arithmetic and measuring precision of CMM in parallel, it is necessary to analyse machine position. Building measuring space model and measuring model, and finding their solutions are the basal tasks of position analysis, and a kernel technique. In order to reduce the difficulty of building measuring model and finding its solution, a six freedom degree CMM of evolutive stewart platform type is designed. Its characteristic is introduced. The coordinate system for position analysis of a designed six freedom degree CMM in parallel is set up. The measuring space model and measuring model are obtained by adopting vector analysis method and equivalent machine method. The numerical solutions of two kinds of models under various first conditions are obtained by utilizing matlab language to program. The correctness for two kinds of models is validated by computer simulation. The research of measuring space model and measuring model provides the basis for analyzing performance of six freedom degree CMM in parallel.