复合加工机床空间误差补偿和精度提升  

Volumetric error compensation and accuracy improvement of a compound machine tool

作　　者：吴迎春[1] 白永明[1] 沈建新[2] WU Yingchun;BAI Yongming;SHEN Jianxin(College of Electromechanical and Information Engineering,Wuxi Vocational Institute of Arts&Technology,Yixing 214206,China;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210006,China)

机构地区：[1]无锡工艺职业技术学院机电与信息工程学院,宜兴214206 [2]南京航空航天大学机电学院,南京210006

出　　处：《现代制造工程》2024年第5期104-112,共9页Modern Manufacturing Engineering

基　　金：国家高档数控机床与基础制造装备科技重大专项项目(2014ZX04001071);江苏省职业教育线缆智能制造“双师型”名师工作室(2022);无锡市职业教育吴迎春智能控制名师工坊(2021);江苏省高校青蓝工程项目(2021)。

摘　　要：对特殊结构的复合加工机床采用D-H和H-M方法结合的系统主法进行了运动学建模,使激光跟踪仪测量的机床空间误差便于模型参数辨识,并列出了机床理论模型的正解和机床误差模型的识别参数。在机床运动学误差模型中,以验证点的理论空间位姿为基准,根据刀具点空间位姿相对于机床坐标轴的雅克比矩阵,使用分块矩阵结合L-M算法,计算得到了验证点的坐标轴补偿值,算法收敛速度快,相对于雅克比矩阵迭代法提高了计算效率,经过坐标轴补偿后机床的空间位置误差和姿态误差平均值分别为0.00422 mm和9.99×10-4 rad,比补偿前误差分别降低了82.5%和16.1%,表明复合加工机床的空间位姿精度得到大幅提升。The kinematic modeling of the special structure compound machine tool is carried out by D-H and H-M methods,so that the machine tool volumetric positioning error measured by the laser tracker is convenient for model parameter identification,and the forward solution of the machine theoretical model and the identification parameters of the machine kinematic error model are listed.In the kinematic error model of the machine tool,taking the theoretical volumetric position and orientation of the verification points as the basis,according to the Jacobi matrix of the volumetric position and orientation of the tool point relative to the coordinate axis of the machine tool,the block matrix combined with the L-M algorithm is used to calculate the coordinate axis compensation of the verification points,the algorithm converges quickly,and the calculation efficiency is improved compared to the Jacobi matrix iterative method,and the average value of the volumetric position and orientation error of the machine tool after the coordinate axis compensation is 0.00422 mm and 9.99×10-4 rad.Compared with the error before compensation,the error is reduced by 82.5%and 16.1%,respectively,indicating that the volumetric position and orientation accuracy of the compound machine tool has been greatly improved.

关 键 词：复合加工机床 运动学模型 空间误差 补偿 L-M算法 

分 类 号：TH161[机械工程—机械制造及自动化]