摘要
给出了三自由度并联机构坐标测量的运动反解模型 ,依据矩阵全微分理论 ,导出测头位姿误差与各运动副位置误差及调节器运动误差之间的相互关系 ,建立了新型坐标测量机的误差模型。通过计算机仿真 ,讨论了机构参数误差对测量结果的影响 。
Firstly, this paper establishes the inverse kinematic model of a new coordinate measuring machine (CMM) based on the parallel link mechanism with three spatial degrees of freedom (3-DOF). Then, based on the differentiation of the kinematics, the relation ship between the input parameter errors, which consist of the position errors of the joints and the kinematic errors of the actuators, and the output errors at the probe of the new CMM is derived, thereby the error model is obtained. Finally, the influence of the structural parameter errors on the measuring accuracy is discussed by computer simulation.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2001年第7期752-755,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(5 9775 0 86 )
关键词
坐标测量机
并联机
运动反解模型
误差模型
仿真
coordinate measuring machineparallel link mechanisminverse kinematic modelerror model
