CN108763152A - A kind of precision machine tool computer aided tolerance analysis method based on stl file - Google Patents
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Abstract
The precision machine tool computer aided tolerance analysis method based on stl file that the invention discloses a kind of, includes the following steps：1) to the precision machine tool of arbitrary cascaded structure, extract apex coordinate value in its stl file, judge coincidence face, obtain relative position relation between the big part in precision machine tool basis, connection relation and key feature face normal vector, and set assemble sequence；2) coordinate system is established on key feature face, generates error propagation chain, realizes the mathematical description of the error propagation and accumulation in assembling process；3) it combines error propagation chain and considers the part's machining errors in actual production process and the measurement during practical set and adjustment link, predict the geometric accuracy after the completion of final assembly.The present invention is directed to precision machine tool TOLERANCE ANALYSIS problem, has studied error propagation and the accumulation of lathe assembling process, and the complete machine accuracy synthesis after the completion of assembly considers measurement and adjustment link during practical set, and engineer can effectively be helped to carry out accuracy prediction.
Description
Technical field
The invention belongs to precision machine tool TOLERANCE ANALYSIS, error state optimal estimation techniques fields, and in particular to one kind is based on
The precision machine tool computer aided tolerance analysis method of stl file.
Background technology
Stl file format is very simple, is widely used, and is computer graphics processing, Digital Geometry Processing, digital geometry
The most common file format that commercial Application is supported.Machine tool accuracy performance is the basic index of Machine Tool design, is by designing, making
It makes, assemble comprehensive coverage.However existing lathe TOLERANCE ANALYSIS method heavy dependence engineer experience, and have precision insufficient or
The problem of precision surplus.
Invention content
The purpose of the present invention is be directed in existing lathe TOLERANCE ANALYSIS to rely on engineer experience and precision deficiency and precision
Superfluous problem, provides a kind of precision machine tool computer aided tolerance analysis method based on stl file.
The present invention adopts the following technical scheme that realize：
A kind of precision machine tool computer aided tolerance analysis method based on stl file, includes the following steps：
1) to the precision machine tool of arbitrary cascaded structure, apex coordinate value in its stl file is extracted, coincidence face is judged, obtains
The normal vector of relative position relation, connection relation and key feature face between the big part in precision machine tool basis, and it is suitable to set assembly
Sequence；
2) establish coordinate system on key feature face, generate error propagation chain, realize error propagation in assembling process with
The mathematical description of accumulation；
3) during combining error propagation chain and considering the part's machining errors in actual production process and practical set
Measurement and adjustment link predict the geometric accuracy after the completion of final assembly.
The present invention, which further improves, to be, in step 1), according to the geometric point information in stl file, extracts its STL texts
Apex coordinate value in part, the equation for obtaining any two plane are respectively：
A1x+B1x+C1x+D1=0 and A2x+B2x+C2x+D2=0
IfThen judge that two planes overlap to get to the connection between the big part in precision machine tool basis
Relationship；IfTwo planes are parallel；If A1：B1：C1≠A2：B2：C2, two planes intersection, thus obtain base
The relative position relation of the big part of plinth.
The present invention, which further improves, to be, in step 1), when setting assemble sequence, and the dress of the big part in basis or sub-assemblies
Sequence ligand has an impact measurement, that is, influences the calculating of adjustment amount, to influence the complete machine precision after the completion of assembly.
The present invention, which further improves, to be, in step 2), coordinate system is established on key feature face, generates error propagation
Chain, the specific method is as follows：
201) kinematic axis, main shaft and workpiece mounting surface that lathe assembly precision has a direct impact will be defined on basic big part
For key feature face；
202) any point is as coordinate origin on key feature face, and any one line is as datum line, according to origin, base
Directrix and the normal vector in the face establish rectangular coordinate system in space on each key feature face, one and only one base coordinate
System, as the benchmark of error propagation chain, remaining is local coordinate system；
203) include to translate the transformation matrix rotated to be by coordinate system Oi to coordinate system Oj：
Local coordinate is generated to the transformation matrix of world coordinates by formula (1), relative position and appearance between each geometric properties
State is obtained by coordinate system transformation, realizes the mathematical description of geometric error transmission, it is whole to construct the lathe described by coordinate
Machine assembles crucial geometric properties, and rigging error accumulates the computational methods with transmission between crucial geometric properties.
The present invention, which further improves, to be, in step 3), according to practical set process, assembly+1 step of kth it is total
Error accumulation and kth step overall error accumulation between relationship expression be：
Wherein, δDCF1(k) the overall error accumulation that first key feature is walked in kth is indicated, O is null matrix, Δ θ (k) tables
Show the angular error between the corresponding crucial geometric properties that the new Assembly part that kth walks introduces；
It is based on differential motion vector as a result, the lathe assembling process accumulation of error is expressed as recursive form shown in formula (2),
The error state of next step in assembling process is described to introduce with new Assembly part in error current state and current assembly step
Geometric error between relationship；
Adoption status space equation describes in assembling process comprising the error propagation measured with adjustment：
In formula：
A (k) is unit matrix；
W (k) is described in assembling process, the geometric error that kth step is introduced due to new Assembly part mismachining tolerance；Geometry misses
Part coordinate system of the difference based on the part is obtained by the tolerance of measurement or part；
In lathe assembly, it is only concerned its angular error, is had：W (k)=Δ θ (k)；
F (k) is to be converted to the new Assembly part error based on part coordinate system in kth step in assembling process relative to base
The transition matrix of the frame of reference error of quasi- transfer chain：
Each W coefficient is unit matrix；
U (k) is adjustment vector, describes angle change of the crucial geometric properties relative to reference characteristic in part coordinate system,
It indicates in lathe assembling process, geometry essence is carried out by reprocessing or scraping mode to certain crucial geometric properties of assembly
The adjustment of degree；
B (k) is equally a transition matrix, in assembly, the adjustment amount conversion based on part coordinate system during kth is walked
Turn when the u (k) in part coordinate system and w (k) has same definition for the frame of reference relative to datum tool chain
It is also identical with F (k) to change matrix B (k)；
C (k) is the observing matrix that element is 1, -1 or 0, and columns is identical as state variable, for defining assembling process
In, the relative bearing of the crucial geometric properties measured in kth step；Lathe is assembled, usually two crucial geometric properties
The depth of parallelism or verticality；
V (k) is corresponding measurement noise；
Based on differential motion vector, the recurrence expression-form of error propagation in assembling process is obtained, and then considers to assemble
Journey measures and adjusting process, builds lathe assembling process error propagation state-space model.
The present invention, which further improves, to be, the columns of C (k) is identical as state variable, and wherein state variable is crucial several
What characteristic；Face and kinematic axis are characterized for two crucial geometric properties of lathe assembly.
The present invention has following beneficial technique effect：
The present invention is directed to precision machine tool TOLERANCE ANALYSIS problem, has studied error propagation and the accumulation of lathe assembling process,
Complete machine accuracy synthesis after the completion of assembly considers measurement and adjustment link during practical set, can effectively help engineer
Carry out accuracy prediction.
Further, three coordinate values for extracting geometric point in stl file, judge coincidence face, obtain the big part in precision machine tool basis
Between connection relation, lathe assembly information is automatically extracted by area of computer aided, reduces engineer's workload, improves work
Efficiency.
Further, assemble sequence is set, can be adjusted according to practical set, the complete machine under more different assemble sequences
Precision helps engineer to find optimal assemble sequence.
Further, coordinate system is established on key feature face, generates error propagation chain, accurate machine is realized from space angle
The description of the transmission and accumulation of bed error.
Further, the measurement during the part's machining errors and practical set in consideration actual production process and adjustment ring
Section predicts the geometric accuracy after the completion of final assembly, meets engineering reality, final assembly precision is ensured helpful.
Description of the drawings
Fig. 1 is the flow chart provided by the invention for considering measurement and the precision machine tool TOLERANCE ANALYSIS method of adjusting process；
Fig. 2 is the schematic diagram in the key feature face of the horizontal Machining centers designed in the embodiment of the present invention, wherein (a) is tool
The structural schematic diagram of body, 0 represents lathe bed column fitting surface (assembling base plane), and 1 represents X-axis assembling base plane, and 2 represent Y-axis dress
Main-shaft axis is represented with reference plane, 3,4 represent Z axis assembling base plane, and 5 represent B axle assembling base plane, and 6 represent workpiece installation base
Quasi- face.(b) it is the rough schematic view of (a)；
Fig. 3 is that the coordinate system in the key feature face of horizontal Machining centers simplified model in Fig. 2 defines schematic diagram；
Fig. 4 is that the bias state amount of horizontal Machining centers in Fig. 2 that the embodiment of the present invention obtains changes spirogram, wherein (a)
It is quantity of state X1(k) (δ 1) and X3(k) situation of change of (δ 3) in assembling process (b) is quantity of state X2(k) (δ 2) and X4(k)
The situation of change of (δ 4) in assembling process.
Specific implementation mode
The present invention is described in further details with reference to the accompanying drawings and examples.
The present invention is superfluous with precision for engineer experience and precision deficiency is relied on during existing lathe TOLERANCE ANALYSIS
The problem of, a kind of precision machine tool TOLERANCE ANALYSIS method considering measurement and adjusting process is invented, this method was assembled comprising lathe
Journey state-space model.
Flow such as Fig. 1 institutes of precision machine tool computer aided tolerance analysis method provided by the invention based on stl file
Show, contains and the methods of generate error propagation chain, establish state space equation.It can according to TOLERANCE ANALYSIS step shown in flow chart
To realize the accuracy prediction of lathe, the specific steps are：
1) to the precision machine tool of arbitrary cascaded structure, apex coordinate value in its stl file is extracted, coincidence face is judged, obtains
The normal vector of relative position relation, connection relation and key feature face between the big part in precision machine tool basis, and it is suitable to set assembly
Sequence.
Wherein, according to the geometric point information in stl file, apex coordinate value in its stl file is extracted, any two is obtained
The equation of plane is respectively：
A1x+B1x+C1x+D1=0 and A2x+B2x+C2x+D2=0
IfThen judge that two planes overlap to get to the connection between the big part in precision machine tool basis
Relationship；IfTwo planes are parallel；If A1：B1：C1≠A2：B2：C2, the intersection of two planes, this makes it possible to obtain
The relative position relation of basic big part.When setting assemble sequence, the assemble sequence of the big part in basis or sub-assemblies has shadow to measurement
It rings, that is, influences the calculating of adjustment amount, to influence the complete machine precision after the completion of assembly.
2) establish coordinate system on key feature face, generate error propagation chain, realize error propagation in assembling process with
The mathematical description of accumulation.Coordinate system is established on key feature face, generates error propagation chain, the specific method is as follows：
201) kinematic axis, main shaft and workpiece mounting surface that lathe assembly precision has a direct impact will be defined on basic big part
For key feature face；
202) any point is as coordinate origin on key feature face, and any one line is as datum line, according to origin, base
Directrix and the normal vector in the face establish rectangular coordinate system in space on each key feature face, one and only one base coordinate
System, as the benchmark of error propagation chain, remaining is local coordinate system；
203) include to translate the transformation matrix rotated to be by coordinate system Oi to coordinate system Oj：
Local coordinate is generated to the transformation matrix of world coordinates by formula (1), relative position and appearance between each geometric properties
State is obtained by coordinate system transformation, realizes the mathematical description of geometric error transmission, it is whole to construct the lathe described by coordinate
Machine assembles crucial geometric properties, and rigging error accumulates the computational methods with transmission between crucial geometric properties.
3) during combining error propagation chain and considering the part's machining errors in actual production process and practical set
Measurement and adjustment link predict the geometric accuracy after the completion of final assembly.According to practical set process, in+1 step of kth of assembly
Overall error accumulation kth step overall error accumulation between relationship expression be：
Wherein, δDCF1(k) the overall error accumulation that first key feature is walked in kth is indicated, O is null matrix, Δ θ (k) tables
Show the angular error between the corresponding crucial geometric properties that the new Assembly part that kth walks introduces；
It is based on differential motion vector as a result, the lathe assembling process accumulation of error is expressed as recursive form shown in formula (2),
The error state of next step in assembling process is described to introduce with new Assembly part in error current state and current assembly step
Geometric error between relationship；
Adoption status space equation describes in assembling process comprising the error propagation measured with adjustment：
In formula：
A (k) is unit matrix；
W (k) is described in assembling process, the geometric error that kth step is introduced due to new Assembly part mismachining tolerance；Geometry misses
Part coordinate system of the difference based on the part is obtained by the tolerance of measurement or part；
In lathe assembly, it is only concerned its angular error, is had：W (k)=Δ θ (k)；
F (k) is to be converted to the new Assembly part error based on part coordinate system in kth step in assembling process relative to base
The transition matrix of the frame of reference error of quasi- transfer chain：
Each W coefficient is unit matrix；
U (k) is adjustment vector, describes angle change of the crucial geometric properties relative to reference characteristic in part coordinate system,
It indicates in lathe assembling process, geometry essence is carried out by reprocessing or scraping mode to certain crucial geometric properties of assembly
The adjustment of degree；
B (k) is equally a transition matrix, in assembly, the adjustment amount conversion based on part coordinate system during kth is walked
Turn when the u (k) in part coordinate system and w (k) has same definition for the frame of reference relative to datum tool chain
It is also identical with F (k) to change matrix B (k)；
C (k) is the observing matrix that element is 1, -1 or 0, and columns is identical as state variable (crucial geometric properties number), is used
It defines in assembling process, the relative bearing of the crucial geometric properties measured in kth step；Lathe is assembled, usually two
The depth of parallelism or verticality of crucial geometric properties (characteristic face or kinematic axis)；
V (k) is corresponding measurement noise；
Based on differential motion vector, the recurrence expression-form of error propagation in assembling process is obtained, and then considers to assemble
Journey measures and adjusting process, builds lathe assembling process error propagation state-space model.
Below by taking certain horizontal Machining centers as an example, whole design cycles and step are described in detail.
Fig. 2 is the schematic diagram in certain horizontal Machining centers key feature face, and the selection in key feature face is predominantly fitted to each other
Face, mounting surface, end surface etc..As shown in Fig. 2, in specific choice, by kinematic axis installation surface, lathe bed column matching surface
And assembly end surface (table surface and spindle box lateral surface) is selected as key feature face.And lathe bed column is coordinated
Surface is as reference plane.
The dimensional orientation that the big part in basis is indicated using the coordinate system being consolidated on key feature face, generates error propagation chain,
Assembly angular error TRANSFER MODEL is established, the key feature in the assembly after the completion dimensional orientation and part of crucial geometric properties
Between angular error there are following relationships：
The error state of each step of crucial geometric properties, i.e. state equation can be expressed as so in assembling process：
Complete machine precision after the completion of assembly depends on following factor：Part error, in error propagation chain and assembling process
To the adjustment amount (kalman gain K) of crucial geometric properties error state.And wherein kalman gain K is decided by assembling process
The selection of the adjustable crucial geometric properties of each step, mass loss and unit angle error caused by final rigging error
The consumed time cost of adjustment.
For arbitrary a machine tool or assembly, when its structure determination, assemble sequence can also vary with each individual.Dress
Component is formed with part in the process, different parts or component are assembled into final assembly.In this example, definition assembly is suitable
Sequence is as follows：
(1) on installation lathe bed (A) to ground；
(2) assembly column (B) and slide (C) become a component (sub-assemblies)；
(3) component (sub-assemblies) is installed on lathe bed (A)；
(4) on fitter's bench (D) to lathe bed (A).
In (1) step, the crucial geometric properties KC3 in crucial geometric properties KC0 and part D in part B can lead to
The mode for crossing scraping is adjusted its relative angle error.Since KC0 is defined as reference characteristic, therefore it may only be necessary to given KC3
The adjustment weight coefficient of corresponding states variable.Since other parts are not yet assembled, for the crucial geometry in other parts
Feature gives it and adjusts the bigger value (such as 1000) of weight coefficient one, i.e.,：
In (2) step, part B is a sub-assemblies with part C assembly.It is adjustable key geometric properties be
KC2 and KC1, space angle error are relative to reference characteristic KC0's.Part B and part C are to pass through linear feeding system
Connection, and when the assembly is complete, the mounting plane KC1 of linear feeding system is more difficult relative to the end plane KC2 of sub-assemblies
With adjustment.Therefore, the adjustment weight matrix that second step assembles can be defined as：
In (3) step, part B and the part C sub-assemblies formed are assemblied on part A.Due to crucial geometry at this time
Feature KC1 has become the cooperation region feature of two parts.Therefore, corresponding adjustment weight matrix coefficient is also required to one given
Higher value：
In (4) step of assembly, crucial geometric properties KC3 becomes the mating feature face of part A and part D, and adjustment is difficult
To carry out.Therefore, adjustment weight coefficient matrix is given：
In Tolerance assignment, does not consider the geometric accuracy requirement in assembling process usually, be only concerned after the completion of final assembly
Geometric accuracy requirement.Therefore, for assembling process, observing matrix and its weight coefficient are taken as 4 × 4 null matrix.?
In this example, it is assumed that the geometric accuracy after the completion of assembling requires the verticality between crucial geometric properties KC1 and KC3, and
Verticality between crucial geometric properties KC2 and KC4.Therefore, after the completion of assembly, the observing matrix of assembly can be written as：
Weight matrix is used for weighing mass loss caused by the final relative angle error caused by part geometry error, can
To be expressed as：
The kalman gain of each step of assembling process can be calculated：
The adjustment amount of each step assembling process depends on error current state x (k) and kalman gain K (k).Table 1 provides
It is special can to calculate each crucial geometry of assembling process each step as a result, for one group of part geometry error caused by mismachining tolerance
The space error state of sign.
Assembling process error caused by 1 part geometry error of table inputs
Based on optimal correction technique, each step error state x (k) is as shown in assembling process.
It can be seen from the comparison in Fig. 4 when only by TOLERANCE ANALYSIS without adjusting process (weight coefficient=
0), and using adjusting process and when giving different weight coefficients (weight coefficient=1, weight coefficient=10), work as weight coefficient
It is higher, key geometric properties KC1 (d θ after the completion of assembly1) and KC3 (d θ3) and KC2 (d θ2) and KC4 (d θ4) closer, i.e.,
It is smaller per the error of perpendicularity between a pair of crucial geometric properties.
Inputted based on the error caused by part's machining errors, in caused assembling process error propagation with accumulation to final
The analysis of error state after the completion of assembly, can further realize the TOLERANCE ANALYSIS of part's machining errors.In this example, σA,
σB,σC,σDIt is the angular error standard deviation of part, the tolerance T of angular error is：T=Cp·(6σ).Therefore, each is crucial
Geometric properties can be expressed as relative to the angular error standard deviation of reference characteristic：
The variance of the error of perpendicularity is between the feature being concerned about for state after the completion of finally being assembled in this example：
Thereby establish the Element Design tolerance based on optimal correction technique and lathe key geometric properties after the completion of assembly
The correspondence of error variance.
Claims (6)
1. a kind of precision machine tool computer aided tolerance analysis method based on stl file, which is characterized in that including following step
Suddenly：
1) to the precision machine tool of arbitrary cascaded structure, apex coordinate value in its stl file is extracted, coincidence face is judged, obtains precision
The normal vector of relative position relation, connection relation and key feature face between the big part of machine tool basic, and set assemble sequence；
2) coordinate system is established on key feature face, generates error propagation chain, realizes the error propagation in assembling process and accumulation
Mathematical description；
3) it combines error propagation chain and considers the part's machining errors in actual production process and the measurement during practical set
With adjustment link, the geometric accuracy after the completion of final assembly is predicted.
2. a kind of precision machine tool computer aided tolerance analysis method based on stl file according to claim 1, special
Sign is, in step 1), according to the geometric point information in stl file, extracts apex coordinate value in its stl file, obtains arbitrary
The equation of two planes is respectively：
A1x+B1x+C1x+D1=0 and A2x+B2x+C2x+D2=0
IfThen judge that two planes overlap to close to get to the connection between the big part in precision machine tool basis
System；IfTwo planes are parallel；If A1：B1：C1≠A2：B2：C2, two planes intersection, thus obtain basis
The relative position relation of big part.
3. a kind of precision machine tool computer aided tolerance analysis method based on stl file according to claim 1, special
Sign is, in step 1), when setting assemble sequence, the assemble sequence of the big part in basis or sub-assemblies has an impact measurement, i.e. shadow
The calculating for ringing adjustment amount, to influence the complete machine precision after the completion of assembly.
4. a kind of precision machine tool computer aided tolerance analysis method based on stl file according to claim 2, special
Sign is, in step 2), coordinate system is established on key feature face, generates error propagation chain, the specific method is as follows：
201) kinematic axis, main shaft and workpiece mounting surface that lathe assembly precision has a direct impact will be defined as closing on basic big part
Key characteristic face；
202) any point is as coordinate origin on key feature face, and any one line is as datum line, according to origin, datum line
Rectangular coordinate system in space is established on each key feature face with the normal vector in the face, one and only one base coordinate system makees
For the benchmark of error propagation chain, remaining is local coordinate system；
203) include to translate the transformation matrix rotated to be by coordinate system Oi to coordinate system Oj：
By the transformation matrix of formula (1) generation local coordinate to world coordinates, the relative position and posture between each geometric properties are logical
It crosses coordinate system transformation to obtain, realizes the mathematical description of geometric error transmission, construct the complete machine tool dress described by coordinate
With crucial geometric properties, the computational methods of rigging error accumulation and transmission between crucial geometric properties.
5. a kind of precision machine tool computer aided tolerance analysis method based on stl file according to claim 4, special
Sign is, tired in the overall error accumulation of+1 step of kth of assembly and the overall error of kth step according to practical set process in step 3)
Relationship expression between product is：
Wherein, δDCF1(k) the overall error accumulation that first key feature walk in kth is indicated, O is null matrix, and Δ θ (k) expressions are the
Angular error between the corresponding crucial geometric properties that the new Assembly part of k steps introduces；
It is based on differential motion vector as a result, the lathe assembling process accumulation of error is expressed as recursive form shown in formula (2), describes
The error state of next step introduces several with new Assembly part in error current state and current assembly step in assembling process
Relationship between what error；
Adoption status space equation describes in assembling process comprising the error propagation measured with adjustment：
In formula：
A (k) is unit matrix；
W (k) is described in assembling process, the geometric error that kth step is introduced due to new Assembly part mismachining tolerance；Geometric error base
In the part coordinate system of the part, obtained by the tolerance of measurement or part；
In lathe assembly, it is only concerned its angular error, is had：W (k)=Δ θ (k)；
F (k) is to be converted to the new Assembly part error based on part coordinate system in kth step in assembling process to pass relative to benchmark
Pass the transition matrix of the frame of reference error of chain：
Each W coefficient is unit matrix；
U (k) is adjustment vector, describes angle change of the crucial geometric properties relative to reference characteristic in part coordinate system, indicates
In lathe assembling process, geometric accuracy is carried out by reprocessing or scraping mode to certain crucial geometric properties of assembly
Adjustment；
B (k) is equally a transition matrix, and in assembly, the adjustment amount based on part coordinate system during kth is walked is converted to phase
Square is converted when the u (k) in part coordinate system and w (k) has same definition for the frame of reference of datum tool chain
Battle array B (k) is also identical with F (k)；
C (k) is the observing matrix that element is 1, -1 or 0, and columns is identical as state variable, for defining in assembling process, kth
The relative bearing of the crucial geometric properties measured in step；Lathe is assembled, usually the depth of parallelism of two crucial geometric properties
Or verticality；
V (k) is corresponding measurement noise；
Based on differential motion vector, the recurrence expression-form of error propagation in assembling process is obtained, and then considers that assembling process is surveyed
Amount and adjusting process build lathe assembling process error propagation state-space model.
6. a kind of precision machine tool computer aided tolerance analysis method based on stl file according to claim 5, special
Sign is that the columns of C (k) is identical as state variable, and wherein state variable is crucial geometric properties number；For the two of lathe assembly
A key geometric properties are characterized face and kinematic axis.
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Cited By (6)
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| CN110096762A (en) * | 2019-04-11 | 2019-08-06 | 天津大学 | A kind of prediction of lathe rigging error and control method |
| CN110362929A (en) * | 2019-07-17 | 2019-10-22 | 重庆大学 | A kind of rigging error transitive attribute analysis method combining faying face |
| JPWO2020250779A1 (en) * | 2019-06-12 | 2021-11-25 | 三菱電機株式会社 | Adjustment amount estimation device, adjustment amount estimation method, adjustment amount estimation program and machine tool assembly method |
| CN113722844A (en) * | 2021-08-01 | 2021-11-30 | 北京工业大学 | Gear axis pose error and assembly error method considering double-bearing seat hole influence |
| CN113781553A (en) * | 2021-09-08 | 2021-12-10 | 北京理工大学 | Virtual detection method for geometric precision of mechanical product based on error modeling |
| CN113781553B (en) * | 2021-09-08 | 2024-07-09 | 北京理工大学 | Mechanical product geometric accuracy virtual detection method based on error modeling |
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