关节臂式柔性三坐标测量系统的数学模型及误差分析  

Mathematical Model and Error Analysis of the Articulated Arm Flexible CMM

作　　者：王学影[1] 刘书桂[1] 王斌[1] 张国雄[1] 

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072

出　　处：《纳米技术与精密工程》2005年第4期262-267,共6页Nanotechnology and Precision Engineering

基　　金：国家自然科学基金资助项目(50475116).

摘　　要：关节臂式柔性三坐标测量系统是一种新颖的基于旋转关节和转动臂的三坐标测量系统,以角度测量基准取代了长度测量基准,它具有量程大、体积小、重量轻及使用灵活等优点．首先基于Denavit-Hartenberg方法建立了关节臂式柔性三坐标测量系统的理想数学模型和误差模型,并通过几何作图法对模型进行了验证.根据系统的特点和通过对系统中实际存在的影响测量结果的各种误差因素进行了详细分析,为进一步研究系统的误差补偿提供了理论基础．The articulated arm flexible CMM （coordinate measuring machine） is a new type of CMM with rotational joints and flexible arms, in which lineal measurements are substituted by angular ones. It possesses the advantages of large measuring range, small volume, low weight and portability. By using Denavit-Hartenberg analysis arithmetic, the ideal mathematical model and error model of the articulated arm CMM are established. The feasibility of the models is verified by sketching. All error sources are deeply analyzed according to the traits of the system, which establishes a theoretic base for introducing error compensation.

关 键 词：三坐标测量系统 关节臂 误差模型 

分 类 号：TH721[机械工程—仪器科学与技术]