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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
[ "于连栋(1969-),男,山东郯城人,教授,博士生导师,1993年、1999年和2003年于合肥工业大学分别获得学士、硕士和博士学位,主要研究方向为坐标测量技术、现代测试精度理论研究和微纳米测量技术。E-mail:liandongyu@hfut.edu.cn" ]
[ "赵会宁(1987-),男,河南兰考人,讲师,2011年于中原工学院获得学士学位,2014年、2018年于合肥工业大学分别获得硕士和博士学位,主要研究方向为坐标测量技术。E-mail:hnzhao@mail.hfut.edu.cn" ]
收稿日期:2021-03-25,
修回日期:2021-05-07,
纸质出版日期:2021-11-15
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于连栋,曹家铭,赵会宁等.关节臂式坐标测量机的运动学建模[J].光学精密工程,2021,29(11):2603-2612.
YU Lian-dong,CAO Jia-ming,ZHAO Hui-ning,et al.Kinematics model of articulated arm measuring machine[J].Optics and Precision Engineering,2021,29(11):2603-2612.
于连栋,曹家铭,赵会宁等.关节臂式坐标测量机的运动学建模[J].光学精密工程,2021,29(11):2603-2612. DOI: 10.37188/OPE.20212911.2603.
YU Lian-dong,CAO Jia-ming,ZHAO Hui-ning,et al.Kinematics model of articulated arm measuring machine[J].Optics and Precision Engineering,2021,29(11):2603-2612. DOI: 10.37188/OPE.20212911.2603.
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.
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