自驱动关节臂坐标测量机轨迹规划与仿真  

Trajectory Planning and Simulation of Self-driven Articulated Arm Coordinate Measuring Machine

作　　者：胡馨予 胡毅[1] 韩梁 占瑜毅 郑辰雅 Hu Xinyu;Hu Yi;Han Liang;Zhan Yuyi;Zheng Chenya

机构地区：[1]合肥工业大学仪器科学与光电工程学院,合肥市230009

出　　处：《工具技术》2020年第6期60-64,共5页Tool Engineering

基　　金：国家自然科学基金(51775163)。

摘　　要：自驱动关节臂坐标测量机以测量为目标,要求测量过程平稳运行,且其确切的目标位置点未知。针对自驱动关节臂坐标测量机的工作过程,提出先加速、再减速后匀速的轨迹规划方法。建立基于D-H模型的运动学方程,将五次多项式插值法和直线插补法结合进行轨迹规划,在MATLAB中建立仿真环境模型。在线测量仿真结果表明,仿真测量过程中的自驱动关节臂坐标测量机速度和加速度连续,未发生突变,达到了减小自驱动关节臂坐标测量机振动的目的。The self-driven articulated arm coordinate measuring machine aims at measuring,which requires smooth measuring process,and the exact target point is unknown.Aiming at the working process of the self-driven articulated arm coordinate measuring machine,a trajectory planning method for accelerating is proposed and then slowing down and eventually become uniform.Based on D-H model,the kinematics equation is established,and a trajectory planning method combining joint space and cartesian space is proposed,and the five-order polynomial interpolation method and linear interpolation method are combined to achieve the goal of improving the measuring stationary.A measuring machine model and a sphere simulation environment model are established in MATLAB.The measuring object is simulated by using the designed trajectory planning method.The simulation results show that the velocity and acceleration of the self-driven articulated arm coordinate measuring machine are continuous and the vibration of the self-driving joint arm coordinate measuring machine is reduced.

关 键 词：自驱动关节臂坐标测量机 轨迹规划 五次多项式插值 直线插补 

分 类 号：TG806[金属学及工艺—公差测量技术] TH741[机械工程—光学工程]