Because of restriction of workspace of parallel kinematics Machine (PKM), 6 DOF PKM can’t finish machining of workpiece with complicated surfaces under only once locating. It is necessary to fit workpiece beyond twic...Because of restriction of workspace of parallel kinematics Machine (PKM), 6 DOF PKM can’t finish machining of workpiece with complicated surfaces under only once locating. It is necessary to fit workpiece beyond twice and to lead to low machining precision. Therefore the seven-axis linkage PKM is implemented by fixing a turntable on the worktable of the six-axis linkage PKM. However, the turntable angle decomposing problem from the CL file should be well considered. If the traditional decomposing methods are adopted, the nutation angle usually goes beyond the workspace of the machine. Therefore, according to the relation of the machine coordinate system and the workpiece coordinate system, the turntable angle decomposition algorithmic of the consistent coordinate system and the turntable angle decomposition algorithmic of the non-consistent coordinate system are developed to resolve the problem mentioned above. The turntable angle decomposition of the non-consistent coordinate system processes the decomposition which is based on the consistent coordinate system again. It calculates the initial angle of the locating workpiece, and the decomposed angle of the turntable at the machine coordinate system results in the nutation angle not going beyond workspace of the machine, thereby the decomposition process can be simplified.展开更多
针对小面积的1∶500测图和三维建模项目需求,利用低成本的大疆P4R无人机作为航测平台,根据低成本卫星导航模块的数据质量特征,从数据预处理、解算模型、参数估计流程、模糊度固定方法、高精度基线解算五个方面进行动态后处理算法的优化...针对小面积的1∶500测图和三维建模项目需求,利用低成本的大疆P4R无人机作为航测平台,根据低成本卫星导航模块的数据质量特征,从数据预处理、解算模型、参数估计流程、模糊度固定方法、高精度基线解算五个方面进行动态后处理算法的优化设计,实现航拍影像的定位定姿系统(Position and Orientation System,POS)解算。实验结果表明:基于动态后处理定位算法能够满足无人机免像控1∶500大比例尺测图需求,软件已应用于国内外多个实际项目。展开更多
文摘Because of restriction of workspace of parallel kinematics Machine (PKM), 6 DOF PKM can’t finish machining of workpiece with complicated surfaces under only once locating. It is necessary to fit workpiece beyond twice and to lead to low machining precision. Therefore the seven-axis linkage PKM is implemented by fixing a turntable on the worktable of the six-axis linkage PKM. However, the turntable angle decomposing problem from the CL file should be well considered. If the traditional decomposing methods are adopted, the nutation angle usually goes beyond the workspace of the machine. Therefore, according to the relation of the machine coordinate system and the workpiece coordinate system, the turntable angle decomposition algorithmic of the consistent coordinate system and the turntable angle decomposition algorithmic of the non-consistent coordinate system are developed to resolve the problem mentioned above. The turntable angle decomposition of the non-consistent coordinate system processes the decomposition which is based on the consistent coordinate system again. It calculates the initial angle of the locating workpiece, and the decomposed angle of the turntable at the machine coordinate system results in the nutation angle not going beyond workspace of the machine, thereby the decomposition process can be simplified.
文摘针对小面积的1∶500测图和三维建模项目需求,利用低成本的大疆P4R无人机作为航测平台,根据低成本卫星导航模块的数据质量特征,从数据预处理、解算模型、参数估计流程、模糊度固定方法、高精度基线解算五个方面进行动态后处理算法的优化设计,实现航拍影像的定位定姿系统(Position and Orientation System,POS)解算。实验结果表明:基于动态后处理定位算法能够满足无人机免像控1∶500大比例尺测图需求,软件已应用于国内外多个实际项目。
