并联六坐标测量机测量模型的建模与求解

Building and Solving of Measuring Model of CMM with Six-freedom-degree Parallel Mechanism

为研究并联坐标测量机的工作空间、控制算法和测量精度等 ,必须进行机构位置分析。测量模型的建立与求解是机构位置分析的正解问题。为降低位置分析难度 ,设计了基于演化Stewart平台的并联六坐标测量机。分别采用等效机构法和三维搜索法建立了测量模型 ,并通过计算机仿真获得了测量模型的解析解和数值解。仿真结果验证了两种建模方法的正确性。

In order to study the working space, control algorithm and measuring accuracy of parallel mechanism CMM, its mechanism position must be analyzed. Building and solving of the measuring model is a positive solution problem of mechanism position analysis. In order to reduce the difficulty of position analysis, the six freedom degree parallel mechanism CMM based on evolutional Stewart platform is designed. The measuring models are built by adopting the equivalent mechanism method and the 3D searching method respectively, and the analytic solution and the numerical value solution are obtained by computer simulation. The correctness of two kinds of modeling methods is verified by simulation results.