一种关节臂式坐标测量机的多点标定方法

doi:10.16180/j.cnki.issn1007-7820.2022.08.012

摘要/Abstract

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0.046 9 mm,表明文中所提方法简化了标定步骤,提高了标定效率。

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

Abstract:

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 0.046 9 mm, indicating that the proposed method simplifies the calibration steps and improves the calibration efficiency.

Key words: articulated arm coordinate measuring machine, calibration, kinematics parameter, error model, standard measuring rod, multi-point method, single point repetition accuracy, distance accuracy

中图分类号:

TP249

曾志江,高贯斌,马文金. 一种关节臂式坐标测量机的多点标定方法[J]. 电子科技, 2022, 35(8): 73-78.

ZENG Zhijiang,GAO Guanbin,MA Wenjin. A Multi-Point Calibration Method of Articulated Arm Coordinate Measuring Machine[J]. Electronic Science and Technology, 2022, 35(8): 73-78.

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锥台位置	X	Y	Z
1	8.285	-8.003	2 049.667
2	8.274	-7.284	2 249.902
3	8.244	-6.432	2 546.603
4	8.226	-5.556	2 940.692

测量值	标定前	误差	标定后	误差
D'₁	200.666 1	0.429 9	200.224 6	-0.011 6
D'₂	296.914 0	0.211 8	296.706 2	0.004 0
D'₃	393.421 0	-0.529 0	394.061 6	0.028 4
D'₄	497.379 8	0.441 3	496.908 1	0.029 4
D'₅	690.404 8	-0.387 4	690.819 0	0.026 8
D'₆	891.070 6	0.042 2	890.981 5	-0.046 9

关节i	a_i /mm	d_i/mm	θ_i/(°)	α_i/(°)
1	0.153 215 195	280.760 795 500	0.048 754 760	-90.001 412 08
2	62.054 285 870	0.002 611 776	0.042 066 403	-90.015 384 87
3	-0.092 773 727	750.423 405 800	-0.027 194 945	90.004 904 38
4	62.104 003 050	0.105 806 614	-0.040 441 580	90.015 082 67
5	-0.018 799 695	-500.161 217 000	-0.062 622 289	-90.008 312 44
6	97.009 325 520	19.467 784 130	-0.220 642 056	2.566 450 91
l_x=0.835 562 229 mm l_y=0.085 798 521 mm l_z=-4.402 098 559 mm

关节i	a_i /mm	d_i/mm	θ_i/(°)	α_i/(°)
1	0.081 907 66	278.562 799 900	0.050 898 306	-89.999 983 950
2	61.621 897 490	-0.041 100 452	0.019 683 793	-90.014 443 960
3	-0.044 480 973	745.361 126 700	-0.012 945 347	90.006 095 000
4	61.639 154 670	0.120 229 020	-0.040 185 568	90.001 448 510
5	-0.010 096 775	-496.841 313 900	-0.061 926 696	-89.999 991 050
6	96.771 727 660	19.306 280 190	-0.095 981 018	2.619 221 625
l_x=0.408 126 469 mm l_y=-0.075 460 669 mm l_z=-4.375 454 826 mm