Method for solving optimal measuring area of articulated coordinate measuring machine
A coordinate measuring machine and articulated technology, applied in complex mathematical operations, calculation models, biological models, etc., can solve impractical problems, improve work efficiency, reduce workload, and improve automatic measurement accuracy
Inactive Publication Date: 2018-11-13
ANHUI UNIV OF SCI & TECH
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Problems solved by technology
However, since the measuring machine adopts a manual measurement method, the measurement attitude is random, so this method is not practical
Method used
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[0029] The present invention will be further explained below through specific embodiments.
[0030] The articulated coordinate measuring machine in this embodiment is a six-degree-of-freedom articulated coordinate measuring machine, which is composed of 3 measuring arms, 6 joints, 6 circular encoders, and 1 measuring head. The rotation angle of each joint is obtained from the output of the circular encoder installed on it;
[0031] The specific implementation steps are as follows:
[0032] Step 1: Use the D-H method to establish the measurement equation p of the articulated coordinate measuring machine,
[0033]
[0034] Among them: c means cos, s means sin, l i Is the length of the rod; θ i Is the actual rotation of each joint; d i Yes Joint offset; a i Is the torsion angle of the adjacent joint axis; l is the length of the measuring machine probe.
[0035] Step 2: Calibrate the error of the circular encoder. The error distribution curve is a sine-like curve with a period of 2π that m...
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The invention discloses a method for solving an optimal measuring area of an articulated coordinate measuring machine and is applied to the technical field of coordinate measuring. The method includesthe steps that firstly, according to a measuring model of the articulated coordinate measuring machine, an articulated coordinate measuring machine error model based on circular grating encoder anglemeasuring errors is built; the Monte Carlo theory is adopted to obtain random numbers of 6 joint rotation angles, and a numerical method is adopted to simulate and analyze measuring space of the measuring machine; a Newton iteration method and appropriate layout and generalization algorithms are adopted to obtain the condition of the maximum error portion of the whole space; then, the whole measuring space is cut into a plurality of small cubic areas at equal intervals, and FOA+PSO is adopted to determine the maximum measuring error of each area; finally, through comparison, the area with thesmallest maximum measuring error is found out. By adopting the method for solving the optimal measuring area of the articulated coordinate measuring machine, the optimal measuring area of the articulated coordinate measuring machine can be rapidly determined, and therefore the accuracy of the articulated coordinate measuring machine is improved.
Description
Technical field [0001] The invention relates to a method for solving the optimal measurement area of an articulated coordinate measuring machine applied in the technical field of coordinate measurement. Background technique [0002] The articulated coordinate measuring machine is a spatial open-chain series structure formed by connecting multiple rods in series through multiple rotating joints. Because of its fast measurement speed, convenient carrying, wider measurement space, less measurement dead angle, and low environmental requirements, etc. Advantages, it is widely used in automotive vehicles and parts, molds, aerospace, steam turbines, heavy machinery and other machining industries. [0003] The six-degree-of-freedom articulated coordinate measuring machine consists of 3 measuring arms, 6 joints, 6 circular encoders and 1 probe. The rotation angle of each joint is obtained from the output of the circular encoder installed on it; the angles recorded by the six encoders and...
Claims
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Login to View More IPC IPC(8): G06F17/11G06F17/50G06N3/00
CPCG06F17/11G06N3/006G06F30/20
Inventor 江磊顾嘉辉刘润泽杨鹏
Owner ANHUI UNIV OF SCI & TECH