仿人多关节坐标测量机的数学建模及其误差分析  

Modeling and Error Analysis for Human-simulation Multi-joint Coordinate Measuring Machine

作　　者：叶东[1] 车仁生[1] 

机构地区：[1]哈尔滨工业大学仪器仪表及测控技术系,150001

出　　处：《哈尔滨工业大学学报》1999年第2期28-32,共5页Journal of Harbin Institute of Technology

摘　　要：仿人多关节坐标测量机是一种新型的非笛卡尔式坐标测量机，它仿照人的腰关节、肩关节、肘关节和脱关节的结构，将一系列杆件和测间通过具有旋转导轨的关节连接起来，以角度测量基准取代了长度测量基准，从而具有结构简单、体积小、测量范围大、使用灵活方便等优点．在Denavit－Hartenberg方法基础上，运用齐次坐标变换等数学工具，建立起多关节坐标测量机测头中心相对于机座参考坐标系的理论测量模型，随后对误差来源进行了深入分析，认为由于加工和装配过程中所带来的结构误差是最大的误差来源．在考虑到结构误差的基础上，对理论模型进行了修正得到实际的测量模型，最后进行了仿真计算和实际测量实验，验证了理论测量模型的正确性，通过误差的修正，测量精度得到很大的改进．Human-simulation mulh-joint coordinae measuring machine (CMM) is a new type of non-Cartesian CMM. Simulating the structure of human's waist, shoulder, and and wrist joint, it makes up of arms, joints and probe in series. Its advantages include simple machinery, small volume, large measuring range and portable use.By using homogenous coordinate transformation principle and Denavit-Hartenberg analysis method, a mathematical model for multi-joint coordinate measuring machine, of which the movement of the probe center is relative to ma-chine reference fiame, is constructed . Furthermore, error sources are deeply analyzed, and it is found that structure errors produced in the machining and assembly are maximal error resources .Finally examples, based on the algorithm simulation and actual measuring experiment, are presented to demonstrate the feasibility of this model . By correcting the structure errors, accuracy is largely improved.

关 键 词：坐标测量机 多关节 数学建模 误差分析 

分 类 号：TH721[机械工程—仪器科学与技术] TG839[机械工程—精密仪器及机械]