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| 关节臂式坐标测量机的运动学建模与误差研究 | |
| 引用本文： | 叶怀储,高贯斌,陈欢,王鹏翔. 关节臂式坐标测量机的运动学建模与误差研究[J]. 计量学报, 2009, 30(Z1). DOI: 10.3969/j.issn.1000-1158.2009.z1.07 |
| 作者姓名： | 叶怀储 高贯斌 陈欢 王鹏翔 |
| 作者单位： | 1. 浙江省计量科学研究院,浙江,杭州,310013 2. 浙江大学现代制造工程研究所,浙江,杭州,310027 |
| 摘 要： | 设计了一种新型仿人手臂结构的关节臂式坐标测量机,建立了测量机的坐标系统,在此基础上建立了测量机的四参数D-H运动学模型.在Matlab软件中利用Robotics Toolbox建立了测量机的仿真模型,并对测量机进行了图形仿真,仿真结果验证了四参数D-H运动学模型的正确性.利用Visual C++编制出数据采集软件,实现了从测量机关节空间到工作空间的映射.通过对关节臂式坐标测量机的误差分析,提出了提高测量机精度所应采取的措施,为进一步进行测量机的参数标定和误差补偿提供了理论基础. |
| 关 键 词： | 计量学 关节臂 坐标测量机 运动学模型 误差 |
Study on the Kinematics Modeling and Errors of an Articulated Arm CMM |
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| YE Huai-chu,GAO Guan-bin,CHEN Huan,WANG Peng-xiang. Study on the Kinematics Modeling and Errors of an Articulated Arm CMM[J]. Acta Metrologica Sinica, 2009, 30(Z1). DOI: 10.3969/j.issn.1000-1158.2009.z1.07 | |
| Authors: | YE Huai-chu GAO Guan-bin CHEN Huan WANG Peng-xiang |
| Abstract: | A new humanoid arm structure coordinate measuring machine (CMM)-an articulated arm CMM is designed. The four-parameter D-H kinematics model of the articulated arm CMM is established according to the built coordinate system. The simulation model of the articulated arm CMM is built using Robotics Toolbox in the software of Matlab to verify the kinematics model. The data acquisition software programmed by Visual C++ finished the mapping from joints space to operation space. Through the error analysis some methods to improve measurement precision are proposed which provide the theoretical basis to calibrate the parameters and compensate the structural errors. |
| Keywords: | Metrology Articulated arm Coordinate measuring machine (CMM) Kinematics modeling Error |
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