齿轮参数激光测量系统运动学分析与仿真

Kinematical Analysis and Simulation of Gear Parameter Laser Measurement System

齿轮参数激光测量系统的运动平稳性和可靠性是保证测量精度的重要因素。为了了解该测量机构的运动特性,通过使用Solidworks软件对齿轮参数激光测量系统进行实体建模,采用D-H法对该测量系统各个运动关节建立了坐标系并进行了正运动学分析。利用MATLAB中Robotics Toolbox工具箱,对该测量机构建立了运动学模型并对其进行了运动学仿真,对运动关节进行了轨迹规划仿真。通过运动仿真结果,可以更加清楚地了解测量系统在测量过程中的运动过程,对轨迹规划的仿真验证了运动机构的可靠性和平稳性。

The motion stability and reliability of laser measurement system for gear parameters are the most important factors to ensure its measurement accuracy. The solid modeling for this measurement system was built by using Solid-works in this paper to know its kinetic characteristics,Denavit-Hartenberg notation was applied to establish the coordi-nates system for each movement joint and proceed the kinematics analysis. Robotics Toolbox in Matlab was utilized to configure the kinematic model for this system and the kinematics simulation and the trajectory planning simulation for movement joints were conducted. The movements of the measurement system in the process of measuring can be seen more clearly through the simulation results, and the simulation of the trajectory planning has verifiedthe reliability and stability of the measurement system.