仿人关节式坐标测量机的数学建模及标定方法  

Mathematical model and parametric calibration of apery multi-joint articulated coordinate measuring machine

作　　者：王从军[1] 魏霖[1] 李中伟[1] 

机构地区：[1]华中科技大学材料成形及模具技术国家重点实验室,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2007年第11期1-4,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

摘　　要：在Denavit-Hartenberg方法基础上,建立了关节式坐标测量机的数学模型,通过数学仿真实验结合图解法验证了数学模型的合理性.设计一种全新的标定块,采用最小二乘法和迭代法相结合的方法实现了参数的快速标定.结果表明:仿人关节式坐标测量机杆件的各项实际参数误差在所允许的范围内,具有较好的实用性和鲁棒性.On the basis of Denavit-Hartenberg notation,a mathematical model for 6-freedom multi-joint coordinate measuring machine was built and its reasonableness was testified by the mathematics apery experiment and diagrammatizing method.A new calibration craft was designed and the parameters were calibrated through integrating the least squares method and the iterative arithmetic.The results show that the parametric error of poles was within the permited range and had good pract robustness.

关 键 词：仿人关节式坐标测量机 数学模型 参数标定 仿真实验 

分 类 号：TH721[机械工程—仪器科学与技术]