基于改进的多体系统误差建模理论的激光拼焊生产线运动误差模型  

Kinematic Error Modeling for Tailored Blank Laser Welding Machine Based on the Improved MBS

作　　者：辛立明[1,2] 徐志刚[1] 赵明扬[1] 朱天旭[1] 

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院研究生院,北京100039

出　　处：《机械工程学报》2010年第2期61-68,共8页Journal of Mechanical Engineering

基　　金：中国科学院知识创新工程重要方向资助项目

摘　　要：采用改进的多体系统建模理论对激光拼焊生产线运动误差进行研究。用低序体阵列描述多体系统拓扑结构,用特征矩阵表示多体系统中间体的相对位置和姿态。在基于多体系统理论的误差建模基础上提出位置误差传递函数的概念,用来描述各个误差源对位置精度的影响。根据激光拼焊生产线的结构特点,运用改进的多体系统理论精度分析理论,对激光拼焊生产线运动精度进行系统、全面的分析。采用Leica激光跟踪仪对激光拼焊线的运动误差进行检测,并将检测结果与误差模型分析结果进行对比,结果表明所建立的模型能有效预测激光拼焊线的运动误差。Research on error modeling of tailored blank laser welding machine which has four linear axes is introduced. The number arrays of low-order body are used to describe the topological structures which are taken to generalize and refine MBS, and the characteristic matrices are employed to represent the relative positions and gestures between any two bodies in MBS. Position error transfer function which can reflect the influence of each error origin on the positioning error of the machine tool is given to describe transmission error of the machine in detail. Based on this method, the error model of the tailored blank laser welding machine is put forward. The measurement and evaluation of their error parameters start, after completed error modeling of the machine. Leica laser tracker is introduced to measure the errors of the machine and to check the result of the error model. The comparison results indicate that the error model can effectively predict errors of the tailored blank laser welding system.

关 键 词：激光拼焊 多体系统理论 误差建模 位置误差传递函数 激光跟踪装置 

分 类 号：TH115[机械工程—机械设计及理论] TG439.4[金属学及工艺—焊接]