3自由度并联坐标测量机运动学参数标定与计算机仿真  

KINEMATIC CALIBRATION AND COMPUTER SIMULATION OF 3 DOF PARALLEL-LINK CMM

作　　者：刘得军[1] 艾清慧[1] 王建林[2] 车仁生[3] 

机构地区：[1]大庆石油学院电子工程系,大庆163318 [2]北京化工大学 [3]哈尔滨工业大学

出　　处：《机械工程学报》2004年第3期15-19,共5页Journal of Mechanical Engineering

基　　金：国家自然科学基金(59775086);大庆石油学院基金

摘　　要：首先对3自由度并联坐标测量机的组成结构及工作原理进行了介绍,然后针对该坐标测量机的运动特点,提出了一种基于逐次逼近算法的运动学参数标定方法,并利用该方法对所研究的并联坐标测量机的22个主要运动学参数进行了辨识,最后通过计算机仿真,对辨识结果进行了验证,从而为提高该坐标测量机的测量精度奠定了理论基础。Firstly, the structure, measuring theory and characteristics of a new kind of coordinate measuring machine (CMM) using parallel-link mechanism with three spatial degrees of freedom (3 DOF) is described. Then, an algorithm based approach for kinematic calibration of 3 DOF parallel-link CMM is presented, and twenty-two main kinematic parameters of the CMM are identified using the offered method. Finally, the identification results are verified by computer simulation. It lays the theoretical foundation for further improving the measuring accuracy of the studied parallel-link CMM.

关 键 词：并联机构 坐标测量机 运动学参数标定 计算机仿真 逐次逼近算法 

分 类 号：TH721[机械工程—仪器科学与技术] TP391.9[机械工程—精密仪器及机械]