关节臂式坐标测量机的数学模型和参数简化

Mathematical Model and Simplifying of Parameters of the Articulated Arm Flexible CMM

首先基于Denavit-Hartenberg方法建立了关节臂式柔性三坐标测量机的理想数学模型和误差模型,然后建立复合球坐标系,简化了误差模型,为进一步研究关节臂式坐标测量机的标定和误差补偿奠定了理论基础。

This paper firstly built the ideal mathematics models and error models of the articulated arm CMM on the basis of Denavit - Hartenberg method, then set up the complex ball coordinate system, and simplified the error models, thus established the theoretical foundation for further research into arin CMM calibration and error compensation.