关节臂式坐标测量机的运动学与工作空间分析  

Kinematics and Workspace Analysis for Articulated Arm Coordinate Measuring Machine

作　　者：周爱国[1] 周飞[1] 吕刚[2] 葛卫梁 

机构地区：[1]同济大学机械与能源工程学院,上海201804 [2]海克斯康测量技术(青岛)有限公司,山东青岛266101

出　　处：《机械传动》2015年第1期48-51,共4页Journal of Mechanical Transmission

摘　　要：关节臂式坐标测量机的运动学理论模型和工作空间是其机械结构优化和精度分析的基础。首先利用D-H法建立关节臂式坐标测量机运动学理论模型,并在SolidWorks二次开发的基础上进行了运动学三维仿真以验证所建理论模型是否正确。然后,采用蒙特卡洛法对其工作空间分析仿真,得到了关节臂式坐标测量机的工作空间点云图。最后,利用层切法和边界扩展更精确地计算出该工作空间的体积,为结构优化提供支持。仿真结果表明关节臂式坐标测量机测量空间分布均匀,无空腔,满足实际测量要求。The kinematics and workspace for articulated arm coordinate measuring machine （AAC- MM） is the basis for structure optimization and precision analysis. First, the kinematics theory model of AACMM is established by using D--H method and tri--dimension kinematics simulation is imple- mented based on the secondary development of SolidWorks to verify whether the kinematics model is correct. Then the AACMM workspace is analyzed and simulated by Monte Carlo method and the cloud picture is obtained. Finally, the volume of workspaee is calculated more accurately by the stratifying method and boundary extension, a basis for the parameter optimization is provided. The simulation results show sthat the workspace of AACMM is distributed uniformly and no cavity and it meets the measurement requirement.

关 键 词：关节臂式坐标测量机 运动学仿真 工作空间 蒙特卡洛法 二次开发 

分 类 号：TH721[机械工程—仪器科学与技术]