自驱动关节臂测量机结构设计与仿真分析

为了使自驱动关节臂测量机的结构满足测量和定位精度要求,通过分析自驱动关节臂测量机的工作原理,建立了测量机的运动传递模型,完成了测量和定位误差源分析,在此基础上对关键部件进行设计和选型。对测量机进行了整体结构设计和关节结构设计,得到最优设计方案,在此基础上推算出各个关节的重力矩及惯性矩,完成了各关节模组的选型。建立了测量机的三维虚拟样机,对虚拟样机的几种典型测量姿态进行了静力学和结构变形分析,根据仿真结果进行优化设计,使测量机在典型和极限测量姿态下的静态变形均符合设计要求。针对测量机测量过程的触测段进行动态变形仿真,仿真结果表明竖直(Y)方向动态变形误差较大,需要建立动静态误差补偿模型进行修正。进一步对测量机进行模态分析,分析结果表明测量机的最高运行频率低于最低阶固有频率,不会产生结构共振以致影响测量和定位精度。

Structural design and simulation analysis of self-driving articulated arm measuring machine

In order to make the structure of self-driving articulated arm measuring machine meet the requirements of measurement and positioning accuracy,the motion transfer model of the measuring machine was established by analyzing the working principle of the self-driving articulated arm measuring machine,and the measurement and positioning error source analysis was completed.Based on this,design and selection of key components were realized.The overall structure and joint structure of the measuring machine were designed to obtain the optimal design.On this basis,the gravity moment and inertia moment of each joint were calculated,and the selection of each joint module was completed.The three-dimensional virtual prototype of the measuring machine was established,and the static and structural deformation analysis of several typical measurement attitudes of the virtual prototype were carried out.According to the simulation results,the static deformation of the measuring machine under the typical and ultimate measurement attitudes meets the design requirements.The dynamic deformation simulation was carried out for the sensing section of the measurement process of the measuring machine.The simulation results show that the dynamic deformation error in the vertical(Y)direction is large,and the dynamic and static error compensation model needs to be established for correction.At the same time,the modal analysis of the measuring machine was further carried out.The analysis results show that the highest working frequency of the measuring machine is lower than the lowest natural frequency,and no resonance occurs,which affects the measurement and positioning accuracy.