虚拟环境下并联坐标测量机几何建模与运动仿真

Modeling and simulation for a parallel-link coordinate measuring machine in virtual environment

与普通直角型坐标测量机相比,并联坐标测量机具有结构简单、测量精度高、测头位姿灵活等一系列优点。但因该坐标测量机的驱动参量与测头输出位姿之间的非线性对应关系,致使其实体样机的设计工作变得十分复杂。该文以3-RPS型三自由度并联机构坐标测量机为研究对象,在虚拟环境下对其进行了三维实体造型和运动过程仿真,从而为新型坐标测量机实体样机的开发奠定了理论基础。

Compared with the conventional CMM, the parallel-link CMM has a simple structure, a higher measuring accuracy and a flexible probe posture etc. However, the design for real prototype of the parallel-link CMM is very difficult because there is a no-linear relationship between the pose on probe and the actuating variables applied through three parallel links. In this paper, the virtual prototype of a parallel-link CMM based on 3-RPS kinematic mechanism is developed, and the 3D kinematic movement of it is simulated in virtual environment. This research lays the foundation for manufacturing the real prototype of the parallel-link CMM.