多关节坐标测量机的误差模型  

A Error Model for Multi joint Coordinate Measuring Machine

作　　者：叶东[1] 黄庆成[1] 车仁生[1] 

机构地区：[1]哈尔滨工业大学精密仪器及测控技术系

出　　处：《光学精密工程》1999年第2期91-96,共6页Optics and Precision Engineering

摘　　要：按Ｄｅｎａｖｉｔ－Ｈａｒｔｅｎｂｅｒｇ方法，建立了多关节坐标测量机末端测头中心相对于机座参考坐标系的测量运动的数学模型。在此基础上，运用矩阵函数的全微分方法，建立起末端测头中心坐标误差与测量运动模型参数误差之间的传递关系。为进一步研究多关节坐标测量机的标定和补偿奠定了理论基础。By using homogenous coordinate transformation principle and Denavit Hartenberg analysis method,a measurement kinematics model and a error model for multi joint coordinate measuring machine,of which the movement of the probe center is relative to machine reference frame,is constructed. And the model is validated by contrast between the theory calculation and actual errors. It establishes firm theory base for deeply developing calibration method for multi joint coordinate measuring machine.

关 键 词：坐标测量机 关节 误差模型 

分 类 号：TH721.01[机械工程—仪器科学与技术]