计量学报2009，Vol.30Issue(z1)：27-31,5.DOI:10.3969/j.issn.1000-1158.2009.z1.07
关节臂式坐标测量机的运动学建模与误差研究
Study on the Kinematics Modeling and Errors of an Articulated Arm CMM
叶怀储 1高贯斌 2陈欢 1王鹏翔1
作者信息
- 1. 浙江省计量科学研究院,浙江,杭州,310013
- 2. 浙江大学现代制造工程研究所,浙江,杭州,310027
- 折叠
摘要
Abstract
A new humanoid arm structure coordinate measuring machine (CMM)-an articulated arm CMM is designed. The four-parameter D-H kinematics model of the articulated arm CMM is established according to the built coordinate system. The simulation model of the articulated arm CMM is built using Robotics Toolbox in the software of Matlab to verify the kinematics model. The data acquisition software programmed by Visual C++ finished the mapping from joints space to operation space. Through the error analysis some methods to improve measurement precision are proposed which provide the theoretical basis to calibrate the parameters and compensate the structural errors.关键词
计量学/关节臂/坐标测量机/运动学模型/误差Key words
Metrology/Articulated arm/Coordinate measuring machine (CMM)/Kinematics modeling/Error分类
通用工业技术引用本文复制引用
叶怀储,高贯斌,陈欢,王鹏翔..关节臂式坐标测量机的运动学建模与误差研究[J].计量学报,2009,30(z1):27-31,5.
