变轴数控机床面向对象逆运动学标定法

Object oriented inverse dinematic calibration method of the variable-axes numerical control machine tool(VNCMT)

变轴数控机床是一种新型机床 ,通常利用误差分析和标定提高其精度。本文围绕误差分析 ,对刀具位姿误差进行分离 ,定义并证明了机床平动时转角误差恒零线 ;针对机床静平台铰链点实际位置很难直接标定的问题 ,提出面向对象逆运动学标定法 ,通过面向控制对象进行测量以及求解逆运动学方程组 ,得出静平台铰链点实际位置 ,还提出渐进性标定的概念。此方法简便可行 。

In this paper, the constant zero-line of rotation error during calibration is defined based on the idea of error separation and the analysis of tool path. Besides, for the position errors of the joint centers on the base are very difficult to gain directly, an simple indirect mothod, named object oriented inverse kinematic calibration(OOIKC),is presented. Moreover, a new concept of gradual calibration is brought forward.