三自由度并联机构坐标测量机误差建模与仿真  

Error Modeling and Simulation of 3-DOF Parallel Link Coordinate Measuring Machine

作　　者：刘得军[1] 车仁生[2] 叶东[2] 黄庆成[2] 

机构地区：[1]大庆石油学院,黑龙江省安达市151400 [2]哈尔滨工业大学自动化测试与控制系

出　　处：《中国机械工程》2001年第7期752-755,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(5 9775 0 86 )

摘　　要：给出了三自由度并联机构坐标测量的运动反解模型 ,依据矩阵全微分理论 ,导出测头位姿误差与各运动副位置误差及调节器运动误差之间的相互关系 ,建立了新型坐标测量机的误差模型。通过计算机仿真 ,讨论了机构参数误差对测量结果的影响 。Firstly, this paper establishes the inverse kinematic model of a new coordinate measuring machine (CMM) based on the parallel link mechanism with three spatial degrees of freedom (3-DOF). Then, based on the differentiation of the kinematics, the relation ship between the input parameter errors, which consist of the position errors of the joints and the kinematic errors of the actuators, and the output errors at the probe of the new CMM is derived, thereby the error model is obtained. Finally, the influence of the structural parameter errors on the measuring accuracy is discussed by computer simulation.

关 键 词：坐标测量机 并联机 运动反解模型 误差模型 仿真 

分 类 号：TH721[机械工程—仪器科学与技术]