仿人多关节坐标测量机的数学建模及其误差分析

仿人多关节坐标测量机是一种新型的非笛卡尔式坐标测量机，它仿照人的腰关节，肩关节，肘关节和腕关节的结构，将一系列杆件和测量间通过具有旋转导轨的关节连接起来，以角度测量基准取代了长度测量基准，从而具有结构简单，体积小，测量范围大，使用灵活方便等优点。

Modeling and Error Analysis for Human-simulation Multi-joint Coordinate Measuring Machine

Human-simulation mulh-joint coordinae measuring machine (CMM) is a new type of non-Cartesian CMM. Simulating the structure of human's waist, shoulder, and and wrist joint, it makes up of arms, joints and probe in series. Its advantages include simple machinery, small volume, large measuring range and portable use.By using homogenous coordinate transformation principle and Denavit-Hartenberg analysis method, a mathematical model for multi-joint coordinate measuring machine, of which the movement of the probe center is relative to ma-chine reference fiame, is constructed . Furthermore, error sources are deeply analyzed, and it is found that structure errors produced in the machining and assembly are maximal error resources .Finally examples, based on the algorithm simulation and actual measuring experiment, are presented to demonstrate the feasibility of this model . By correcting the structure errors, accuracy is largely improved.