基于光栅编码器的柔性测量臂位置精度研究

发布时间：2018-01-04 21:26

本文关键词：基于光栅编码器的柔性测量臂位置精度研究　出处：《仪器仪表学报》2017年02期 　论文类型：期刊论文

【摘要】：光栅编码器的误差使得柔性测量臂(AACMM)在不同位置、不同构型下的精度呈现一定的规律。掌握由光栅编码器精度引起的位置精度在工作空间的分布规律,有利于指导柔性测量臂的标定和测量。以六关节测量臂为研究对象,分析末端执行器位置精度与光栅编码器精度区间之间的关系,并定义了基于光栅编码器精度的位置精度评价指标,在整个工作空间下描述其分布情况。验证试验包括:比较不同关节下光栅编码器精度区间对末端执行器位置精度的影响;与目前常用Monte Carlo方式进行柔性测量臂精度分布特性对比;利用其分布特性,对不同区域进行单点和标准球直径测量。实验结果表明,本方法能更直观、全面地描述光栅编码器精度对柔性测量臂位置精度在工作空间分布情况,通过该分布确定优化测量区域,指导实际操作。
[Abstract]:The error of grating encoder makes flexible measuring arm (AACMM) in different locations, different configurations of the accuracy of presenting a certain rule. Control the distribution position accuracy caused by grating encoder accuracy in the working space, to guide the flexible measuring arm calibration and measurement. With six articulated arm as the research object, analyzing the relationship between the end effector position accuracy and precision of grating encoder interval, and defines the evaluation index of position accuracy encoder accuracy based on the description of its distribution in the whole working space. Experiment includes: the influence of grating encoder accuracy interval comparison of different joint of the end effector position accuracy; flexible measuring arm precision distribution characteristics with the currently used Monte Carlo; the distribution characteristics of single point and standard ball diameter measurement in different regions. The experimental results table This method can be more intuitive and comprehensive description of the accuracy of the grating encoder to the distribution of the position accuracy of the flexible measuring arm in the workspace, and determine the optimal measurement area through this distribution, and guide the actual operation.

【作者单位】：广东技术师范学院;
【基金】：广东省自然科学基金(2016A030313730)项目资助
【分类号】：TN762;TP242.2
【正文快照】： 1引言多关节测量系统也称为柔性测量臂(articulated armcoordinate measuring machine,AACMM),是一种典型的工业机器人,被广泛应用于工业领域[1-4]。在产品生产中,各结构参数存在一定的误差,尽管采用建模[5]、预先标定及误差补偿的方式[6-8]能提高设备的精度,但是由于各结构参

【相似文献】