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

 G—PHYSICS
 G01—MEASURING; TESTING
 G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
 G01B21/00—Measuring 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 sixfreedom 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 singlepoint 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 stepbystep movement of setting, drives other articulations, make virtual prototype that different postures be presented, lower six joint angles of singlepoint multipose are collected, and thus obtain round encoder measurement.By means of circle encoder measurement under the error characteristics and sampled point multipose 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
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 online measurement,
And be widely used in the quality control of all kinds of geometry parts, the reverseengineering of product, the computer aided detection of mold manufacturing,
Online or offline inspection of product process and assemble etc..
Sixfreedom 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.
Sixfreedom 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 threedimensional 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 sixfreedom 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 highprecision 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 sixfreedom 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 multipose 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 multiposture 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 abovementioned existing deficiencies in the technology
The sampling of formula coordinate measuring machine emulates strategy of layouting, and sixfreedom joint type coordinate measurement machine model is established in ADAMSVIEW,
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 singlepoint multiposture motion, and six are exported under each posture in ADAMSPostProcess
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 sixfreedom 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 stepbystep 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 stepbystep 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 stepbystep 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 singlepoint multipose 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 sixfreedom 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 singlepoint virtual prototype for being directed to sampled point A；The appearance of singlepoint 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 stepbystep movement of setting, each different angle position in driving joint
Corresponding to a posture of singlepoint virtual prototype, record each joint under each posture of the singlepoint 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 singlepoint 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 stepbystep 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 singlepoint 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 multipose 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 sixfreedom 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 singlepoint 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 sixfreedom joint type coordinate measurement machine structural parameters are established
Real measuring machine does the case where singlepoint multipose 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 singlepoint multipose 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 sixfreedom joint type coordinate measurement machine singlepoint difference posture；
Fig. 2 is sixfreedom 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 singlepoint 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 sixfreedom 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 singlepoint multipose in the present embodiment
Emulation mode is carried out as follows in the working interface of ADAMSVIEW mechanical system dynamic analysis softwares：
Step 1 builds the survey of six degree of freedom articulated type coordinate according to the structural parameters of sixfreedom 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 singlepoint virtual prototype for being directed to sampled point A；The posture for completing singlepoint 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 stepbystep 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 singlepoint virtual prototype, record the virtual sample of singlepoint
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 postprocessing module ADAMSPostProcess.
C, the measured value that emulation obtains the circle encoder under each posture of singlepoint virtual prototype is that circle encoder is initial
The sum of angle value and joint rotation angles angle value are completed in simulation software postprocessing module ADAMSPostProcess.
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 sixfreedom joint type coordinate measurement machine in mechanical system dynamic analysis software ADAMSVIEW
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.Singlepoint sampling emulation is carried out by means of the virtual prototype of foundation, utilizes postprocessing 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 ADAMSPostProcessor.By means of software ADAMS, singlepoint 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 singlepoint
Stepbystep 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 singlepoint multipose 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 stepbystep 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 stepbystep 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 zaxis 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 zaxis 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 singlepoint multipose 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 stepbystep movement obtains another new plane, new plane upsampling 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 singlepoint 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 sixfreedom 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 stepbystep 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 stepbystep 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 stepbystep 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 singlepoint is colourful
State samples emulation mode, is carried out as follows in mechanical system dynamic analysis software：
Step 1 builds sixfreedom joint type coordinate measurement machine according to the structural parameters of sixfreedom 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 singlepoint virtual prototype for being directed to sampled point A；The posture for completing singlepoint 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 stepbystep movement of setting, each different angle position in driving joint corresponds to
In a posture of singlepoint virtual prototype, each joint under each posture of the singlepoint 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 singlepoint 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 stepbystep 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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