并联六坐标测量机的测量空间模型和测量模型

Measuring space model and measuring model for six-freedom-degree CMM in parallel

为深入研究并联坐标测量机的工作空间、控制算法和测量精度等 ,必须对其进行机构位置分析 .建立和求解测量空间模型和测量模型是位置分析基本任务 ,是一项核心技术 .为降低测量模型建立和求解的难度 ,设计了演化Stewart型的并联六坐标测量机 ,介绍了其特点 .建立了所设计并联六坐标测量机位置分析的坐标系 ,采用矢量分析法和等效机构法 ,分别获得了测量空间模型和测量模型 .利用Matlab语言编制程序 ,得到了不同初始条件下两种模型的数值解 ,通过计算机仿真验证了两种模型的正确性 .

In order to study the working space, control arithmetic and measuring precision of CMM in parallel, it is necessary to analyze the machine position. Building measuring space model and measuring model and finding their solutions are the basic tasks of position analysis. In order to reduce the difficulty of building measuring model and finding its solution, a six-freedom-degree CMM of evolutive stewart platform type is designed. Its characteristic is introduced. The coordinate system for position analysis of a designed six-freedom-degree CMM in parallel is set up. The measuring space model and measuring model are obtained by adopting the vector analysis method and the equivalent machine method. The numerical solutions of the two models under various conditions are obtained by utilizing matlab language in the program. The correctness for the two models is validated by computer simulation. The research of measuring space model and measuring model provides a basis for analyzing the performance of six-freedom-degree CMM in parallel.