一种关节臂式坐标测量机的多点标定方法  

A Multi-Point Calibration Method of Articulated Arm Coordinate Measuring Machine

作　　者：曾志江 高贯斌[1] 马文金 ZENG Zhijiang;GAO Guanbin;MA Wenjin(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500,China)

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500

出　　处：《电子科技》2022年第8期73-78,共6页Electronic Science and Technology

基　　金：国家自然科学基金(51865020)。

摘　　要：关节臂式坐标测量机是一种新型多自由度非正交式坐标系测量机,需要定期对其标定才能保证其精度及稳定性。为对关节臂式坐标测量机进行快速标定,根据其结构建立了基于D-H法的运动学模型,并由构成其模型的运动学参数建立了运动学误差模型。通过设计制作的标准量杆装置,采用多点法对关节臂式坐标测量机进行单点重复标定及距离标定。标定后的单点重复精度从0.09 mm提高到0.05 mm,距离精度从0.529 mm提高到0.0469 mm,表明文中所提方法简化了标定步骤,提高了标定效率。The articulated arm coordinate measuring machine is a new type of multi-freedom non-orthogonal coordinate measuring machine,which needs to be regularly calibrated to ensure the accuracy and stability.In order to quickly calibrate the articulated arm coordinate measuring machine,a kinematics model is established based on D-H method,and the kinematics error model is established based on the kinematics parameters of the model.Through the design and production of the standard measuring rod device,the articulated arm coordinate measuring machine is repeatedly calibrated and distance is calibrated by the multi-point method.After calibration,the single-point repeatability increases from 0.09 mm to 0.05 mm,and the distance accuracy increases from 0.529 mm to 0.0469 mm,indicating that the proposed method simplifies the calibration steps and improves the calibration efficiency.

关 键 词：关节臂式坐标测量机 标定 运动学参数 误差模型 标准量杆 多点法 单点重复精度 距离精度 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置] TN99[自动化与计算机技术—控制科学与工程]