并联六坐标测量机测量模型的研究

Research on Measuring Model for Six Degree of Freedom Parallel Mechanism CMM

建立和求解并联坐标测量机的测量模型是并联机构位置分析的正解问题 ,是其工作空间、控制算法和测量精度等研究的基础。为降低建立和求解测量模型的难度 ,设计了演化Stewart平台型的并联六坐标测量机 ,介绍了其特点。建立了推导测量模型的坐标系 ,按空间并联机构理论 ,采用等效机构法获得了测量模型的解析解。利用Matlab语言编制程序求解测量模型 ,得到了不同初始条件下测量模型的数值解。通过位置反解检验仿真结果 ,证明了测量模型的正确性。

Building measuring model of parallel mechanism CMM and finding its solutions are an obverse solution problem in parallel machine position analyzing, which is the research foundation for its work space, control algorithm and measuring precision, and is a kernel technique. In order to reduce the difficulty for building measuring model and finding its solution, a six degree of freedom parallel mechanism CMM of evolutive Stewart platform type is designed. Its characteristics are introduced. A coordinate system for deducing measuring model is set up. According to the theory of space parallel mechanism, an analytic solution of measuring model is obtained by adopting equivalent-machine-method. The numerical solutions of measuring model under various initial conditions are obtained by utilizing Matlab language to program. The simulation results are tested by inverse position solution. It proves the correctness of measuring model. Measuring model provides method and gist for following studies of parallel mechanism CMM.