关节臂式坐标测量机的运动学建模  

Kinematics model of articulated arm measuring machine

作　　者：于连栋[1,2] 曹家铭 赵会宁 贾华坤[1,2] 蒲松 YU Lian-dong;CAO Jia-ming;ZHAO Hui-ning;JIA Hua-kun;PU Song(School of Instrument Science and Opto-electronics Engineering,Hefei University of Technology,Hefei 230009,China;Anhui Province Key Laboratory of Measuring Theory and Precision Instrument,Hefei 230009,China)

机构地区：[1]合肥工业大学仪器科学与光电工程学院,安徽合肥230009 [2]测量理论与精密仪器安徽省重点实验室,安徽合肥230009

出　　处：《光学精密工程》2021年第11期2603-2612,共10页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.51805139;No.51875165;)国家重大科学仪器设备开发专项(No.2013YQ220893);111计划项目(No.B12019);测量理论与精密仪器安徽省重点实验室2020年度自主创新专项(No.PA2020GDSK0071)。

摘　　要：关节臂式坐标测量机作为一种串联式结构的便携坐标测量仪器,其角度误差对其测量精度的影响呈放大效应。针对上述问题,在DH模型的基础上,提出了一种具有旋转轴倾斜误差运动补偿的关节臂式坐标测量机运动学建模方法,研究了旋转轴系误差运动分离方法并搭建相应的测试系统,建立了基于空间距离的结构参数误差标定模型并进行了实验。实验结果表明,相比于DH模型,采用具有旋转轴倾斜误差运动补偿的运动学模型,关节臂式坐标测量机的测量标准差由0.055 mm降低至0.037 mm。该模型能够有效提高关节臂式坐标测量机的测量精度。The articulated arm coordinate measuring machine(AACMM)is one of the portable non-orthogonal coordinate measuring instruments with a series structure and an angle error that has an amplifying effect on the measurement accuracy,making it difficult to improve the measurement accuracy.To solve the above problems,the AACMM kinematic modeling method with a tilt motion error compensation for the rotation axis was proposed based on the DH model.The method for separating the tilt motion error for the rotating axis was studied,and the corresponding test system was built.The calibration model for the structural parameter errors was established based on the spatial distance,and the corresponding experiments were performed.The experimental results show that the measured standard deviation for the AACMM whose kinematic model included the function of compensating the tilt motion error for the rotating axis is reduced from 0.055 mm to 0.037 mm,compared to that for the DH model.The model can effectively promote the accuracy of AACMM.

关 键 词：精密测量 关节臂式坐标测量机 误差补偿 倾斜误差运动 运动学建模 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]