复合球坐标系中便携式坐标测量机的数学模型  

Mathematical model of the portable CMM in complex ball coordinate system

作　　者：王斌[1] 刘书桂[1] 王学影[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：《电子测量技术》2007年第8期8-10,29,共4页Electronic Measurement Technology

基　　金：国家自然科学基金资助项目(50475116)

摘　　要：便携式关节臂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、使用灵活,在线测量等优点。本文首先在关节臂测量系统的各个关节处建立复合球坐标系,然后确定了在复合球坐标系下各关节的轴线和零位,利用空间坐标系之间的转换关系,建立的数学模型较之以前的关节臂式测量机数学模型更为简单,并且通过几何作图法验证了新模型的正确性,为进一步研究系统的标定和误差补偿等提供了理论基础。The portable articulated arm flexible CMM （Coordinate Measuring Machine） is a new type of CMM with rotational joints and flexible arms, in which linear measurements are substituted by angular ones. It possesses the advantages of large measuring range, small volume, low weight and portability. A complex ball coordinate system on the joint is set, then the axis and zero of all joints in the complex ball coordinate system is established, and the mathematical model of Arm CMM is proposed which is more compact than the previous ones. By the conversion of space coordinates, the feasibility of the model is verified by sketching. The model establishes a theoretic base for calibration and error compensation.

关 键 词：关节臂式坐标测量机 复合球坐标系 数学模型 

分 类 号：TH711[机械工程—测试计量技术及仪器]