关节臂式坐标测量机系统研究
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摘要
关节臂式坐标测量机是一种新型的多自由度非笛卡尔式坐标测量系统,具有体积小、重量轻、运动灵活、方便现场行测量、价格较便宜等优点,因此具有广泛的应用前景。本文在对国内外关节臂式坐标测量机发展现状和趋势全面分析的基础上,围绕该类系统的关键技术展开研究。
本论文研究的课题是国家自然科学基金资助项目,项目编号是50475116。论文的主要研究工作包括以下几个方面:
针对关节臂式坐标测量机系统的测量特点,设计了系统整体结构,确保了系统的可靠性。在DH参数法基础上,提出了准球坐标系统定义,建立了更为简化和适合标定的系统数学模型,研究了不同关节数量和空间配置对测量空间的影响,对各臂长比例进行了优化设计。
从机构运动学基本关系出发,分析了关节臂式坐标测量机测头误差的产生原因,建立了测头误差数学模型。根据误差理论,对关节臂式坐标测量机进行了不确定度分析,研究了零件允差与测量机测头位置误差之间的定量关系,设计了关节臂式坐标测量机零件允差优化模型。
提出了一整套标定关节臂式坐标测量机各系统参数的新方法,使得标定过程简单实用,参数分离容易实现。克服了以往标定方法的算法复杂,初值选取敏感,矩阵病态等问题。整个测量方法的关键是要求其它参数以及各个关节臂的转角误差对标定结果基本上没有影响,即其它参数的标定误差和各个关节臂的转角误差对于被标定参数的影响仅为二次误差。
依据具体数据采集功能需求,在测量机的关节处分别设置由角度传感器以及单片机组成的智能传感器单元,提出了一种内部基于RS485总线的分布式采集系统,实现了各个关节角的角度处理功能。对编码器正交信号的辨向、四细分、可逆计数采用CPLD实现,并与传统的分立元件实现方案进行了对比。给出了采集板控制软件的基本结构,讨论了PC端USB驱动程序开发基本思路。
最后完成了与关节臂式坐标测量机精度有关的实验。通过实验分析了各结构参数误差的变化对测头位置误差的影响。基于反转法标定技术,对Faro Platinum 2.4m关节臂式坐标测量机的臂长、偏置以及垂直度误差参数完成了标定实验,实验结果验证了标定方法的可行性和精确性。在搭建的系统实验平台上,用逻辑发生卡产生光栅信号验证了数据采集系统的正确性。
总之,本文以上工作为研制具有自主知识产权的关节臂式坐标测量机奠定了良好的基础。
The articulated arm CMMs is a new type of multiple degree and non-Cartesian system. It possesses the advantages of large measuring range, small volume, low weight and portability, moreover it is convenient to setup on site in production line, and it has extensive application and important significance. Based on analyzing some general views related to current developments and directions of articulated arm CMMs both home and abroad, the main work of this paper is just focused on key techniques of this system.
This project is financially supported by National Natural Science Foundation of China, the number is 50475116. The following work has being done in this paper: Firstly, according to the character of articulated arm CMMs mechanical, system structure is developed, which improves the reliability of system. Based on DH method, a quasi-spherical coordinate system is put forward, the ideal mathematical model of articulated arm CMM is established, which simplifies the model and procedures for machine parameter and error calibration. Deep researches about the effect of joints configuration on measuring working space are done, and arms length scale are optimally designed.
Using mechanism kinematics basic relations, error sources of articulated arm CMM are analyzed, and the error model of the machine is constructed. Based on error theory, measuring uncertainty of articulated arm CMM is introduced. Quantitative relationsof tolerances of the mechanical parts with position errors of probe are proposed, and tolerances optimizing model of parts is presented.
A suitable calibration method is presented in a creative way based on multiple reversal technology, which simplifies calibration process and separates machine parameters and errors easily. Compared to traditional techniques, it overcomes some problems such as complexity algorithm, initial value sensitive and matrix ill condition. The basic thought and key requirement of the proposed multiple reversal calibration method is that errors of all other parameters and rotational angels contribute little to the calibration result. That means all they cause only second order errors in the determined parameter.
Based on the data acquisition system design requirements, the intelligent sensor units, which consisted of angles sensors and microcontroller, are set in each joint and arm, a distributed data acquisition system is developed base on RS485 serial bus. This system is realized processing every joint angle, where the quadature subdivision, direction discrimination and reversible counter can be realized by CPLD, which has been compared with traditional discrete components. Not only elementary frame of acquisition system control software is given, but also USB driver between PC and machine development idea is introduced.
Finally, experimental studies on accuracy related problems of articulated arm CMM are carried out. By computer simulation, effects of structure parameters errors on probe position errors are arrived. Experiments are carried out for a Faro Platinum 4ft articulated arm CMMs, and some arm lengths, offsets and perpendicular errors are measured. The results prove the feasibility of the proposed method for articulated arm CMMs calibration, and all parameters are separated completely. On building system experiment platform, data acquisition system feasibility is proven by grating signal from logical generating card.
Briefly, this paper establishes favorable foundation for developing articulated arm CMMs with our own intellectual properties.
本论文研究的课题是国家自然科学基金资助项目,项目编号是50475116。论文的主要研究工作包括以下几个方面:
针对关节臂式坐标测量机系统的测量特点,设计了系统整体结构,确保了系统的可靠性。在DH参数法基础上,提出了准球坐标系统定义,建立了更为简化和适合标定的系统数学模型,研究了不同关节数量和空间配置对测量空间的影响,对各臂长比例进行了优化设计。
从机构运动学基本关系出发,分析了关节臂式坐标测量机测头误差的产生原因,建立了测头误差数学模型。根据误差理论,对关节臂式坐标测量机进行了不确定度分析,研究了零件允差与测量机测头位置误差之间的定量关系,设计了关节臂式坐标测量机零件允差优化模型。
提出了一整套标定关节臂式坐标测量机各系统参数的新方法,使得标定过程简单实用,参数分离容易实现。克服了以往标定方法的算法复杂,初值选取敏感,矩阵病态等问题。整个测量方法的关键是要求其它参数以及各个关节臂的转角误差对标定结果基本上没有影响,即其它参数的标定误差和各个关节臂的转角误差对于被标定参数的影响仅为二次误差。
依据具体数据采集功能需求,在测量机的关节处分别设置由角度传感器以及单片机组成的智能传感器单元,提出了一种内部基于RS485总线的分布式采集系统,实现了各个关节角的角度处理功能。对编码器正交信号的辨向、四细分、可逆计数采用CPLD实现,并与传统的分立元件实现方案进行了对比。给出了采集板控制软件的基本结构,讨论了PC端USB驱动程序开发基本思路。
最后完成了与关节臂式坐标测量机精度有关的实验。通过实验分析了各结构参数误差的变化对测头位置误差的影响。基于反转法标定技术,对Faro Platinum 2.4m关节臂式坐标测量机的臂长、偏置以及垂直度误差参数完成了标定实验,实验结果验证了标定方法的可行性和精确性。在搭建的系统实验平台上,用逻辑发生卡产生光栅信号验证了数据采集系统的正确性。
总之,本文以上工作为研制具有自主知识产权的关节臂式坐标测量机奠定了良好的基础。
The articulated arm CMMs is a new type of multiple degree and non-Cartesian system. It possesses the advantages of large measuring range, small volume, low weight and portability, moreover it is convenient to setup on site in production line, and it has extensive application and important significance. Based on analyzing some general views related to current developments and directions of articulated arm CMMs both home and abroad, the main work of this paper is just focused on key techniques of this system.
This project is financially supported by National Natural Science Foundation of China, the number is 50475116. The following work has being done in this paper: Firstly, according to the character of articulated arm CMMs mechanical, system structure is developed, which improves the reliability of system. Based on DH method, a quasi-spherical coordinate system is put forward, the ideal mathematical model of articulated arm CMM is established, which simplifies the model and procedures for machine parameter and error calibration. Deep researches about the effect of joints configuration on measuring working space are done, and arms length scale are optimally designed.
Using mechanism kinematics basic relations, error sources of articulated arm CMM are analyzed, and the error model of the machine is constructed. Based on error theory, measuring uncertainty of articulated arm CMM is introduced. Quantitative relationsof tolerances of the mechanical parts with position errors of probe are proposed, and tolerances optimizing model of parts is presented.
A suitable calibration method is presented in a creative way based on multiple reversal technology, which simplifies calibration process and separates machine parameters and errors easily. Compared to traditional techniques, it overcomes some problems such as complexity algorithm, initial value sensitive and matrix ill condition. The basic thought and key requirement of the proposed multiple reversal calibration method is that errors of all other parameters and rotational angels contribute little to the calibration result. That means all they cause only second order errors in the determined parameter.
Based on the data acquisition system design requirements, the intelligent sensor units, which consisted of angles sensors and microcontroller, are set in each joint and arm, a distributed data acquisition system is developed base on RS485 serial bus. This system is realized processing every joint angle, where the quadature subdivision, direction discrimination and reversible counter can be realized by CPLD, which has been compared with traditional discrete components. Not only elementary frame of acquisition system control software is given, but also USB driver between PC and machine development idea is introduced.
Finally, experimental studies on accuracy related problems of articulated arm CMM are carried out. By computer simulation, effects of structure parameters errors on probe position errors are arrived. Experiments are carried out for a Faro Platinum 4ft articulated arm CMMs, and some arm lengths, offsets and perpendicular errors are measured. The results prove the feasibility of the proposed method for articulated arm CMMs calibration, and all parameters are separated completely. On building system experiment platform, data acquisition system feasibility is proven by grating signal from logical generating card.
Briefly, this paper establishes favorable foundation for developing articulated arm CMMs with our own intellectual properties.
引文
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