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六坐标位姿测量机的设计与研究
引用本文:储刘火,余晓流.六坐标位姿测量机的设计与研究[J].工具技术,2005,39(10):62-65.
作者姓名:储刘火  余晓流
作者单位:安徽工业大学
摘    要:该测量机构由串联位置测量机构和并联姿态测量机构组成,具有较大的工作空间和较高的测量精度。机构中设置了一个冗余自由度和重力平衡装置,从而具有很好的灵活性。通过机构综合的方法,合理设计并联姿态测量机构,克服了并联机构正解的困难,使得姿态测量参数存在显式解,从而被测物体的六个坐标参数可以实时显示。由作图法得出机构工作空间。误差建模分析了机构的测量误差,并针对并联姿态测量机构测量误差最小作为目标函数优化了机构运动学设计参数。

关 键 词:六坐标位姿测量机  机构运动学  误差建模
收稿时间:2005-02
修稿时间:2005-02

Design & Study on 6-coordinate Measuring Machine
Chu Liuhuo,Yu Xiaoliu.Design & Study on 6-coordinate Measuring Machine[J].Tool Engineering(The Magazine for Cutting & Measuring Engineering),2005,39(10):62-65.
Authors:Chu Liuhuo  Yu Xiaoliu
Affiliation:Chu Liuhuo Yu Xiaoliu
Abstract:A 6-coordinate measuring machine (CMM) is studied. It can measure 6 coordinate parameters (the position and orientation) of a moving platform. The me chanism is comprised of a serial mechanism used for position measurement and a p arallel mechanism for orientation measurement with a comparatively larger working space and higher accuracy. It is dexterous for a redundant DOF and a balancing weight in vertical direction. The parallel mechanism is designed by mechanical synthesis in order to avoid difficulty of forward solution, and the orientation parameters of the moving platform are obtained by analytical expressions. Theref ore, the 6-DOF parameters of a moving platform can be calculated in real time. T he workspace of the mechanism is obtained by graphology and analytical method. The measuring error is analyzed by error modeling. The design-parameter values f or the architecture of the parallel mechanism are optimized.
Keywords:6-coordinate measuring machine (CMM)  kinematics  error modeling
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