CN105783807B - Articulated coordinate machine sampling based on virtual prototype emulates strategy of layouting - Google Patents

Articulated coordinate machine sampling based on virtual prototype emulates strategy of layouting Download PDF

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CN105783807B
CN105783807B CN201610147852.2A CN201610147852A CN105783807B CN 105783807 B CN105783807 B CN 105783807B CN 201610147852 A CN201610147852 A CN 201610147852A CN 105783807 B CN105783807 B CN 105783807B
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joint
angle
virtual prototype
point
sampled point
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CN105783807A (en
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胡毅
万侃然
江超
叶兵
李红莉
张宏伟
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Hefei University of Technology
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Hefei University of Technology
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups

Abstract

The invention discloses a kind of, and the articulated coordinate machine sampling based on virtual prototype emulates strategy of layouting, it is characterized in that building six-freedom joint type coordinate measurement machine virtual prototype in mechanical system dynamic analysis software;Revolute is added respectively at each joint position of virtual prototype, ball pair is set on the top of gauge head, constraint gauge head completes building for single-point virtual prototype in sampled point;The first joint to the 6th joint is selected successively to drive joint, it is rotated by the angle step pitch step-by-step movement of setting, drives other articulations, make virtual prototype that different postures be presented, lower six joint angles of single-point multi-pose are collected, and thus obtain round encoder measurement.By means of circle encoder measurement under the error characteristics and sampled point multi-pose of known six round encoders, point measurement error caused by angle error can be obtained by calculating, the method for analyzing spot measurement error is generalized to entire space again, is enable to carry out the analysis in optimum measurement area using enough data samples.

Description

Articulated coordinate machine sampling based on virtual prototype emulates strategy of layouting
Technical field
The present invention relates to a kind of articulated type measurement of coordinates based on virtual prototype applied in coordinate measuring technology field Machine samples emulation mode and strategy of layouting.
Background technology
Articulated coordinate machine is the space fisher's formula cascaded structure that more bars are connected in series by rotary joint, due to it Have many advantages, such as to measure space is open, easy to operate, portability, to use environment without particular/special requirement, be easily achieved on-line measurement, And be widely used in the quality control of all kinds of geometry parts, the reverse-engineering of product, the computer aided detection of mold manufacturing, Online or offline inspection of product process and assemble etc..
Six-freedom joint type coordinate measurement machine has each measuring arm, each joint, each round encoder and gauge head, each to measure Arm is the first arm, the second arm and third arm respectively;Each joint is the first joint, second joint, third joint, the 4th pass respectively Section, the 5th joint and the 6th joint;Each round encoder be respectively the first circle encoder, second circle encoder, third circle encoder, 4th circle encoder, the 5th circle encoder and the 6th circle encoder.Each joint can be rotated around the axis of its own, each A rotary joint is corresponding with one degree of freedom, and the circle encoder on joint can record the angle of articulation, six circles The angle and measuring machine structural parameters of encoder record determine the coordinate of measuring machine gauge head.
Six-freedom joint type coordinate measurement machine can be rendered as different postures when measuring one measurement point of space.Due to The error characteristics of six round encoders are different on measuring machine, and measuring machine is with the same determining measurement point in different attitude measurement spaces When, difference measures the different measurement angles combination that posture corresponds to six round encoders, to correspond to six round encoders not Combined with angular error, cause a certain determining measurement point measurement error in space with the angular position difference of six round encoders and Random variation, is a uncertain variable, space three-dimensional error is as shown in Figure 1, P points indicate the reality of some measurement point in figure Border position, black region Q indicate the range of P point measurement errors.Due to six-freedom joint type coordinate measurement machine whole measurement point The maximum value of measurement error variable quantity is consecutive variations measuring entirely in spatial dimension, is minimum there are measurement point worst error Or smaller optimum measurement area, include first area 1, second area 2 and third region 3, first area 1 therein in Fig. 2 As optimum measurement area measures in optimum measurement area, can obtain high-precision measurement result.
The paper having disclosed has carried out theoretic discussion to optimum measurement area, is measured in space in articulated coordinate machine It carries out many experiments and obtains data sample, and the mathematical model by being built calculates realization and measured in optimum measurement area.Research Optimum measurement area only considers what articulated coordinate machine circle encoder measurement error individually generated articulated coordinate machine The influence of measurement error, but in reality, the measurement error of articulated coordinate machine includes not only to be measured by circle encoder Error caused by error further includes the error of the generations such as Material Bar Member, environment temperature and interference, it is difficult to be separately separated out Error caused by angle error;And when obtaining experiment sample by experiment, space is layouted to be limited by standard component, while in order to subtract Light work amount can only use limited measurement posture, obtain limited sampled data, and data sample can not possibly be enough.
The error characteristics of six round encoders, can calculate in known six-freedom joint type coordinate measurement machine Go out the measurement error generated by circle encoder measurement error to go forward side by side so that it is determined that a measurement point is distributed shaped like error shown in FIG. 1 Go to one step analysis optimum measurement area.However, for a sampled point in space, lower six of multi-pose is obtained in a manner of calculating Angle value is difficult to realize.
Virtual Prototype Technique is an emerging technology, can intuitively show very much product appearance by Computer Simulation, space is closed System and kinematics and dynamic (dynamical) characteristic, still, with virtual prototype analogue measurement machine, gauge head is solid in virtual environment space Due to some progress multi-posture motion and the round encoder angular of lower six of each posture is exported, and rationally dividing about sampled point Cloth strategy has not been reported so far.
Invention content
The present invention is to provide a kind of joint based on virtual prototype to avoid above-mentioned existing deficiencies in the technology The sampling of formula coordinate measuring machine emulates strategy of layouting, and six-freedom joint type coordinate measurement machine model is established in ADAMS-VIEW, It is right by adding the emulation platform that the conditions such as kinematic constraint and driving, the translation of limitation gauge head build virtual prototype to each joint Articulated coordinate machine makees the emulation of single-point multi-posture motion, and six are exported under each posture in ADAMS-PostProcess The angle value in joint, with the rotation angle emulation circle encoder measurement angle in joint.There are the data of the combination of such angle Sample obtains the point caused by angle error by means of the error characteristics of known six round encoders by calculating Measurement error, then by analyze spot measurement error method be generalized to entire space, can have enough data samples into The analysis in row optimum measurement area.
The present invention is to solve technical problem to adopt the following technical scheme that:
The present invention is based on the horizontal layout strategy of the sampled point of the articulated coordinate machine of virtual prototype, the articulated types Coordinate measuring machine is six-freedom joint type coordinate measurement machine, has each measuring arm, each joint, each round encoder and gauge head, Each measuring arm is the first arm, the second arm and third arm respectively;Each joint is the first joint, second joint, respectively Three joints, the 4th joint, the 5th joint and the 6th joint;Each round encoder is the first circle encoder, the second circle volume respectively Code device, third circle encoder, the 4th circle encoder, the 5th circle encoder and the 6th circle encoder;The angle of articulation is by pacifying It is obtained mounted in circle encoder output thereon;It is characterized in that:The sampled point is arranged as follows:
Step 1, the basic poses that virtual prototype is arranged are that the angle value of each round encoder is zero, are walked by angle of Δ θ Pitch stepper rotates on the 6th joint to variant position, obtains n1 sampled point A1;
Step 2, the angle value that the basic poses that virtual prototype is arranged are each round encoder are zero, are walked by angle of Δ θ Pitch stepper rotates on the 4th joint to variant position, obtains n2 sampled point A2, and each sampled point A2 correspondences one are adopted Sample posture A22;Then, virtual prototype is respectively using each sampling posture A22 as basic poses, using Δ θ as angle step pitch step-by-step movement It rotates on the 6th joint to variant position, obtains n3 sampled point A3;
Step 3, the angle value that the basic poses that virtual prototype is arranged are each round encoder are zero, are walked by angle of Δ θ Pitch stepper rotates on second joint to variant position, obtains n4 sampled point A4, and each sampled point A4 correspondences one are adopted Sample posture A44;Then, virtual prototype is respectively using each sampling posture A44 as basic poses, using Δ θ as angle step pitch step-by-step movement It rotates on the 4th joint to variant position, obtains n5 sampled point A5, each sampled point A5 and correspond to a sampling posture A55;After again, virtual prototype is respectively using each sampling posture A55 as basic poses, using Δ θ as angle step pitch step-by-step movement rotation the On six joints to variant position, n6 sampled point A6 is obtained;
Then, all sampled points in the sampled point layout are the sum of sampled point A1, A2, A3, A4, A5 and A6;It is described 6th joint, the 4th joint and second joint are rotations in the same plane, described sampled point A1, A2, A3, A4, A5 and A6 It is the sampled point located in the same plane;
Step 4, for all sampled points, obtained using the articulated coordinate machine sampling emulation mode based on virtual prototype To the sampled data of many attitude of each sampled point.
The present invention is based on the features of the horizontal layout strategy of the sampled point of the articulated coordinate machine of virtual prototype also to exist In:The articulated coordinate machine sampling emulation mode based on virtual prototype in the step 4 is that the sampling of single-point multi-pose is imitative True method is carried out as follows in mechanical system dynamic analysis software:
Step 1 builds the survey of six degree of freedom articulated type coordinate according to the structural parameters of six-freedom joint type coordinate measurement machine Amount machine virtual prototype adds revolute respectively at each joint position of the virtual prototype, is rotated with revolute band movable joint, With the measurement angle of the rotation angle emulation circle encoder in joint, ball pair is set on the top of gauge head, the central point of ball pair is to set Fixed sampled point A completes building for the single-point virtual prototype for being directed to sampled point A;The appearance of single-point virtual prototype when completing to build State is initial attitude, records each round encoder angular value under initial attitude, and be denoted as:Initial angle angle value;
Step 2, gauge head is constrained in into sampled point A using ball pair, obtains sampled data as follows:
A, it selects the first joint to the 6th joint to drive joint successively, and respectively repeats steps b, obtain sampled data;
B, apply rotation driving for revolute corresponding on driving joint, make driving joint spinning joint initial bit It has set and has been rotated on variant angle position by the angle step pitch step-by-step movement of setting, each different angle position in driving joint Corresponding to a posture of single-point virtual prototype, record each joint under each posture of the single-point virtual prototype relative to The joint rotation angles angle value of itself rotary joint initial position;
C, the measured value that emulation obtains the circle encoder under each posture of single-point virtual prototype is that circle encoder is initial The sum of angle value and joint rotation angles angle value.
Feature the present invention is based on the space layout strategy of the sampled point of the articulated coordinate machine of virtual prototype is:
Within the scope of 360 degree, withIt is rotated on the first joint to variant position for angle step pitch step-by-step movement, for Variant position where first joint, utilizes the planar cloth of the sampled point of the articulated coordinate machine based on virtual prototype Set the arrangement for the sampled point that strategy is completed in each Different Plane, arrangement of the realization sampled point in space.
Compared with the prior art, the present invention has the beneficial effect that:
1, it is in single-point the present invention is based on the horizontal layout strategy of the sampled point of the articulated coordinate machine of virtual prototype The plane of the sampled point designed on the basis of multi-pose emulation mode is layouted strategy, and disposably building virtual prototype makes gauge head to adopting Sampling point, while each initial angle angle value is determined, improve the efficiency that each sampled point in plane builds virtual prototype;Measuring space A plane in uniformly acquire several points after, the design feature of six-freedom joint type coordinate measurement machine is utilized, passes through The measurement data of collection point in one plane is generalized to entire space by the method for changing the first joint angles, it is not necessary to which space is each Sampled point builds virtual prototype and carries out single-point sampling emulation, greatly increases simulation efficiency;Spatial sampling point quantity can Changed by changing angle step pitch.The present invention obtains a large amount of data sample, can be subsequent six degree of freedom articulated type coordinate The analysis of measuring machine optimum measurement domain tyeory lays the foundation.
2, the present invention can simulate very according to the virtual prototype that six-freedom joint type coordinate measurement machine structural parameters are established Real measuring machine does the case where single-point multi-pose measures, and exports each round encoder measurement angle under different postures.By means of obtaining The measurement angle value obtained can further calculate the measurement of the point under different postures in conjunction with the measurement error of circle encoder Error is distributed and the maximum value of error, and this error is only caused by circle encoder measurement error, has excluded the change of rod piece elasticity Influence caused by the factors such as shape, environment temperature, interference, and the sample number of the sampled data of measuring machine single-point multi-pose can pass through It changes the angle step pitch of driving and changes, efficiently solve the problems, such as that measuring data sample number is limited in practical measurement.
Description of the drawings
Fig. 1 is measurement error distribution map under six-freedom joint type coordinate measurement machine single-point difference posture;
Fig. 2 is six-freedom joint type coordinate measurement machine optimum measurement area schematic;
The distribution map of the point acquired in yoz planes by virtual prototype in Fig. 3 the method for the present invention;
The distribution map of the point in the space promoted by the point on the face that acquires in Fig. 4 the method for the present invention;
The single-point virtual prototype original state schematic diagram established in Fig. 5 the method for the present invention;
Figure label:11 first arms, 12 second arms, 13 third arms, 21 first joints, 22 second joints, 23 third joints, 24 the 4th joints, 25 the 5th joints, 26 the 6th joints, 31 gauge heads.
Specific implementation mode:
Referring to Fig. 5, in the present embodiment, articulated coordinate machine, which is six-freedom joint type coordinate measurement machine, has each survey It is the first arm 11, the second arm 12 and third arm 13 respectively to measure arm, each joint, each round encoder and gauge head, each measuring arm;It is each to close Section is the first joint 21, second joint 22, third joint 23, the 4th joint 24, the 5th joint 25 and the 6th joint 26 respectively;Respectively Circle encoder is the first circle encoder, the second circle encoder, third circle encoder, the 4th circle encoder, the 5th circle coding respectively Device and the 6th circle encoder;The angle of articulation is obtained by circle encoder output mounted thereto.
The articulated coordinate machine sampling emulation mode based on virtual prototype samples for single-point multi-pose in the present embodiment Emulation mode is carried out as follows in the working interface of ADAMS-VIEW mechanical system dynamic analysis softwares:
Step 1 builds the survey of six degree of freedom articulated type coordinate according to the structural parameters of six-freedom joint type coordinate measurement machine Amount machine virtual prototype adds revolute respectively at each joint position of virtual prototype, is rotated with revolute band movable joint, to close Ball pair is arranged on the top of gauge head in the measurement angle of the rotation angle emulation circle encoder of section, and the central point of ball pair is setting Sampled point A completes building for the single-point virtual prototype for being directed to sampled point A;The posture for completing single-point virtual prototype when building is Initial attitude records the circle encoder angular value under initial attitude, and is denoted as:Initial angle angle value.
Step 2, gauge head is constrained in into sampled point A using ball pair, obtains sampled data as follows:
A, it selects the first joint to the 6th joint to drive joint successively, and respectively repeats steps b, obtain sampled data.
B, apply rotation driving for revolute corresponding on driving joint, make driving joint spinning joint initial bit It has set and has been rotated on variant angle position by the angle step pitch step-by-step movement of setting, the sampled point of gauge head is constrained in using ball pair Sampled point A, each different angle position in driving joint correspond to a posture of single-point virtual prototype, record the virtual sample of single-point Joint rotation angles angle value of each joint relative to itself rotary joint initial position under each posture of machine, the rotation of record joint Corner angle value is completed using simulation software post-processing module ADAMS-PostProcess.
C, the measured value that emulation obtains the circle encoder under each posture of single-point virtual prototype is that circle encoder is initial The sum of angle value and joint rotation angles angle value are completed in simulation software post-processing module ADAMS-PostProcess.
Measuring principle by the articulated coordinate machine in prior art is:Articulated coordinate machine is by three arm strings Six joints of connection form spatial linkages, the coordinate of measuring machine gauge head by six round encoders measurements angle and measuring machine knot Structure parameter determines, is obtained by measuring equation calculation.For calibrated articulated coordinate machine, structural parameters are normal Number, the measurement to one sampled point of space, the coordinate of the point is the function of its six round encoder measurement angles.Due to circle encoder There are measurement errors, and articulated coordinate machine is caused to generate measurement error.And the measurement error for justifying encoder can pass through calibration Method obtains error information, obtains its error characteristics equation by the method that data are fitted.
There are six degree of freedom for articulated coordinate machine, and when measuring sampled point, measuring machine can be in any attitude, not Its restricted measurement posture.Since the error characteristics of six round encoders on measuring machine are different, measuring machine is with different postures When measuring the same sampled point in space, difference measures the different measurement angles combination that postures correspond to six round encoders, to correspond to The different angle error combination for six round encoders causes the sampled point measurement error with the measurement angle of six round encoders Degree is different and respective change.Justify encoder errors characteristic based on articulated coordinate machine, optimum measurement area is analyzed, it is first The work wanted is the distribution of measurement error under sampled point difference posture to be determined.
The present embodiment builds six-freedom joint type coordinate measurement machine in mechanical system dynamic analysis software ADAMS-VIEW Virtual prototype.The sampled point different to measuring space, virtual prototype initial attitude is different, i.e., each round encoder measurement angle is not Together, there are an initial angles.Single-point sampling emulation is carried out by means of the virtual prototype of foundation, utilizes post-processing module ADAMS- PostProcessor output drivings joint often changes the rotation in each joint that a step angle corresponds under one posture of virtual prototype Angle value, each round encoder measurement is circle the sum of encoder initial angle angle value and joint rotation angles angle value under the posture, this Processing can equally be completed in ADAMS-PostProcessor.By means of software ADAMS, single-point virtual prototype is established, by imitative The round encoder angular combined sample of lower six of sampled point difference posture really is can be obtained, programs in MATLAB and respectively encodes circle Device angle value substitutes into its error characteristics equation, calculates corresponding measurement error, and further calculates with measurement error Circle encoder measurement;Bring lower one group circle encoder measurement with measurement error of a posture into articulated type measurement of coordinates respectively The measurement equation of machine obtains the sampled point and corresponds under posture by the sample point coordinate being calculated compared with the theoretical coordinate Measurement error.Emulation mode, the angle step angle for respectively driving each joint to set are sampled by virtual prototype single-point Step-by-step movement rotates so that and for virtual prototype to the sampling posture of sampled point compared to experimental method, the data sample of acquisition is enough, And influence of other error components to measurement is excluded, it is more accurate to obtain sampled point error distribution as shown in Figure 1.
On the basis of the articulated coordinate machine single-point multi-pose based on virtual prototype samples emulation, efficiently and rapidly Obtain the key that the measurement data in entire space is also problem.In one plane arranging sampled point, most straightforward approach is Equally spacedly longitudinal and transverse picture straight line, each intersection are arranged as sampled point.The sampled point determining to this average segmentation is in ADAMS- When building virtual prototype in VIEW, the angle for constantly changing each joint is needed, gauge head is made to be placed exactly on the aspect;When gauge head positions After on the sampled point, the initial angle angle value for determining round encoder each under this state, this mode is also needed to make simulation efficiency significantly It reduces.
The horizontal layout strategy of the sampled point of the articulated coordinate machine based on virtual prototype is in the present embodiment:Sampling Point is arranged as follows:
Step 1, the basic poses that virtual prototype is arranged are that the angle value of each round encoder is zero, are walked by angle of Δ θ Pitch stepper rotates on the 6th joint 26 to variant position, obtains n1 sampled point A1.
Step 2, the angle value that the basic poses that virtual prototype is arranged are each round encoder are zero, are walked by angle of Δ θ Pitch stepper rotates on the 4th joint 24 to variant position, obtains n2 sampled point A2, each sampled point A2 and corresponds to one Sample posture A22;Then, virtual prototype is respectively using each sampling posture A22 as basic poses, using Δ θ as angle step pitch stepping Formula rotates on the 6th joint 26 to variant position, obtains n3 sampled point A3.
Step 3, the angle value that the basic poses that virtual prototype is arranged are each round encoder are zero, are walked by angle of Δ θ Pitch stepper rotates on second joint 22 to variant position, obtains n4 sampled point A4, each sampled point A4 and corresponds to one Sample posture A44;Then, virtual prototype is respectively using each sampling posture A44 as basic poses, using Δ θ as angle step pitch stepping Formula rotates on the 4th joint 24 to variant position, obtains n5 sampled point A5, each sampled point A5 and corresponds to a sampling appearance State A55;After again, virtual prototype rotates respectively using each sampling posture A55 as basic poses by angle step pitch step-by-step movement of Δ θ On 6th joint 26 to variant position, n6 sampled point A6 is obtained.
Then, all sampled points in sampled point layout are the sum of sampled point A1, A2, A3, A4, A5 and A6;6th joint 26, the 4th joint 24 and second joint 22 are rotations in the same plane, and sampled point A1, A2, A3, A4, A5 and A6 are to be in Sampled point in same plane.
Step 4, for all sampled points, utilize the articulated coordinate machine sampling based on virtual prototype in the present embodiment Emulation mode obtains the sampled data of many attitude of each sampled point.
To establish virtual prototype, gauge head 31 right by using the regular initial angle for changing circle encoder one by one for the present embodiment The point answered is the method for arranging of determining sampled point, its significance lies in that the efficiency for establishing virtual prototype can be further increased.
The space layout strategy of the sampled point of the articulated coordinate machine based on virtual prototype is in the present embodiment:
Within the scope of 360 degree, withIt is rotated on the first joint 21 to variant position for angle step pitch step-by-step movement, it is right In the variant position where the first joint 21, using the articulated coordinate machine based on virtual prototype sampled point it is flat Face placement policies complete the arrangement of the sampled point in each Different Plane, arrangement of the realization sampled point in space.
The space layout strategy method therefor of sampled point is the design feature for considering articulated coordinate machine.Measuring machine Be rotated by 360 ° around z-axis with a fixed pose, gauge head movement locus be one circle, virtual prototype to this circle on any point into Row acquisition, a large amount of angle combinations obtained with to this circle on it is more any other compared with, difference is the first joint 21 Angle is different, and the angle of difference is the rotation angle wherein around z-axis to another point.According to this characteristic, this implementation Example determines each sampling of the plane using the horizontal layout strategy of the sampled point of the articulated coordinate machine based on virtual prototype Point, and single-point multi-pose is utilized to sample the sampled data that emulation mode obtains each sampled point many attitude;The plane withThe first joint 21, which is rotated, for angle step pitch step-by-step movement obtains another new plane, new plane up-sampling point mutual alignment and original Plane is identical, in new plane the sampled data of all sampled points be on the basis of the sampled data of primary plane sampled point, it is only right The first all circle encoder angulars in sampled data add rotation angleOther round encoder angulars are constant, this mistake Cheng Liyong MATLAB programmings are completed.The rest may be inferred, and sampled point is arranged into entire measurement space.The meaning of the strategy is face It is generalized to space, do not need to all establish virtual prototype to the every bit in space and is emulated, it only need to be to selected plane profit Sampled point is arranged with horizontal layout strategy, and hits is obtained using virtual prototype single-point sampling emulation mode to sampled point respectively According to.The method of the present invention can greatly reduce the workload of calculating.
By the plane of the articulated coordinate machine sampled point based on virtual prototype layout strategy arrangement sampled point, sat with yz For mark system first quartile, the sampled point of arrangement is as shown in Figure 3;By the articulated coordinate machine sampled point based on virtual prototype Space strategy of layouting yz coordinate system first quartiles are acquired into each point popularization space, sampled point space layout is as shown in Figure 4.

Claims (3)

1. a kind of horizontal layout method of the sampled point of the articulated coordinate machine based on virtual prototype, the articulated type coordinate Measuring machine is six-freedom joint type coordinate measurement machine, has each measuring arm, each joint, each round encoder and gauge head (31), Each measuring arm is the first arm (11), the second arm (12) and third arm (13) respectively;Each joint is the first joint respectively (21), second joint (22), third joint (23), the 4th joint (24), the 5th joint (25) and the 6th joint (26);It is described each Circle encoder is the first circle encoder, the second circle encoder, third circle encoder, the 4th circle encoder, the 5th circle coding respectively Device and the 6th circle encoder;The angle of articulation is obtained by circle encoder output mounted thereto;It is characterized in that:It is described to adopt Sampling point is arranged as follows:
Step 1, the basic poses that virtual prototype is arranged are that the angle value of each round encoder is zero, are walked by angle step pitch of Δ θ It is rotated on the 6th joint (26) to variant position into formula, obtains n1 sampled point A1;
Step 2, the angle value that the basic poses that virtual prototype is arranged are each round encoder are zero, are walked by angle step pitch of Δ θ It is rotated on the 4th joint (24) to variant position into formula, obtains n2 sampled point A2, each sampled point A2 correspondences one are adopted Sample posture A22;Then, virtual prototype is respectively using each sampling posture A22 as basic poses, using Δ θ as angle step pitch step-by-step movement It rotates on the 6th joint (26) to variant position, obtains n3 sampled point A3;
Step 3, the angle value that the basic poses that virtual prototype is arranged are each round encoder are zero, are walked by angle step pitch of Δ θ Into on formula rotation second joint (22) to variant position, n4 sampled point A4 is obtained, each sampled point A4 correspondences one are adopted Sample posture A44;Then, virtual prototype is respectively using each sampling posture A44 as basic poses, using Δ θ as angle step pitch step-by-step movement It rotates on the 4th joint (24) to variant position, obtains n5 sampled point A5, each sampled point A5 and correspond to a sampling appearance State A55;After again, virtual prototype rotates respectively using each sampling posture A55 as basic poses by angle step pitch step-by-step movement of Δ θ On 6th joint (26) to variant position, n6 sampled point A6 is obtained;
Then, all sampled points in the sampled point layout are the sum of sampled point A1, A2, A3, A4, A5 and A6;Described 6th Joint (26), the 4th joint (24) and second joint (22) are rotations in the same plane, the sampled point A1, A2, A3, A4, A5 and A6 are the sampled points located in the same plane;
Step 4, for all sampled points, obtained often using the articulated coordinate machine sampling emulation mode based on virtual prototype The sampled data of many attitude of one sampled point.
2. the horizontal layout side of the sampled point of the articulated coordinate machine according to claim 1 based on virtual prototype Method, it is characterized in that:The articulated coordinate machine sampling emulation mode based on virtual prototype in the step 4 is that single-point is colourful State samples emulation mode, is carried out as follows in mechanical system dynamic analysis software:
Step 1 builds six-freedom joint type coordinate measurement machine according to the structural parameters of six-freedom joint type coordinate measurement machine Virtual prototype adds revolute respectively at each joint position of the virtual prototype, is rotated with revolute band movable joint, to close Ball pair is arranged on the top of gauge head in the measurement angle of the rotation angle emulation circle encoder of section, and the central point of ball pair is setting Sampled point A completes building for the single-point virtual prototype for being directed to sampled point A;The posture for completing single-point virtual prototype when building is Initial attitude records each round encoder angular value under initial attitude, and is denoted as:Initial angle angle value;
Step 2, gauge head is constrained in into sampled point A using ball pair, obtains sampled data as follows:
A, respectively with each joint to drive joint, step b is repeated, sampled data is obtained;
B, apply rotation driving for revolute corresponding on driving joint, driving joint spinning joint initial position is made to rise It is rotated on variant angle position by the angle step pitch step-by-step movement of setting, each different angle position in driving joint corresponds to In a posture of single-point virtual prototype, each joint under each posture of the single-point virtual prototype is recorded relative to itself The joint rotation angles angle value of rotary joint initial position;
C, the measured value that emulation obtains the circle encoder under each posture of single-point virtual prototype is circle encoder initial angle The sum of value and joint rotation angles angle value.
3. a kind of space layout method of the sampled point of the articulated coordinate machine based on virtual prototype, it is characterized in that:
Within the scope of 360 degree, withIt is rotated on the first joint (21) to variant position for angle step pitch step-by-step movement, for Variant position where first joint (21) is surveyed using the articulated type coordinate described in claim 1 based on virtual prototype The horizontal layout method of the sampled point of amount machine completes the arrangement of the sampled point in each Different Plane, realizes sampled point in space Arrangement.
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