CN111872748A - Machine tool geometric error measuring method based on ball arm instrument - Google Patents

Machine tool geometric error measuring method based on ball arm instrument Download PDF

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CN111872748A
CN111872748A CN202010702640.2A CN202010702640A CN111872748A CN 111872748 A CN111872748 A CN 111872748A CN 202010702640 A CN202010702640 A CN 202010702640A CN 111872748 A CN111872748 A CN 111872748A
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machine tool
error
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instrument
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张福民
姚思涵
蒋晓耕
郑继辉
曲兴华
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Tianjin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
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Abstract

The invention discloses a machine tool geometric error measuring method based on a ball rod instrument, which comprises the following steps: establishing a five-axis machine tool geometric error model based on a spiral theory; establishing a mathematical model for constant-speed linkage of an X axis and a C axis of a machine tool, ensuring that the constant-speed data acquisition of a ball arm instrument is synchronous with the actual motion in the measuring process, and calculating a machine tool code through the mathematical model; and (3) performing a measurement experiment by using machine tool codes, performing error decoupling on the measured data of the ball bar instrument based on a particle swarm algorithm, and solving to obtain 6 geometric errors in the two-axis linkage measurement process. The method can simultaneously measure the geometric errors of the linear shaft and the rotating shaft, and has high measurement precision and good practicability.

Description

Machine tool geometric error measuring method based on ball arm instrument
Technical Field
The invention relates to the technical field of five-axis machine tool error measurement, in particular to a method for measuring geometric errors of a machine tool based on a ball arm instrument.
Technical Field
Compared with a three-axis machine tool, the five-axis machine tool can machine complex curved surfaces and has the advantages of high machining efficiency, convenience in clamping and the like. However, the structure of the five-axis machine tool is more complex, the two revolving axes introduce additional geometric errors, and certain error coupling conditions exist between the linear axis and the revolving axes, which greatly influences the precision of the machine tool. Therefore, in order to ensure the accuracy of the machine tool, the geometric errors of the linear axis and the rotating axis need to be measured.
With the development of error measurement technology, scholars at home and abroad propose various machine tool error measurement methods based on a ball bar instrument, but the methods cannot simultaneously carry out error measurement on a linear axis and a rotating axis. Therefore, it is necessary to provide a method for simultaneously measuring errors of the linear axis and the rotating axis.
Disclosure of Invention
The invention aims to provide a method for measuring the geometric error of a machine tool based on a ball bar instrument, which is used for measuring the geometric error of a linear axis and a rotating axis of the machine tool. The invention can measure geometric errors rapidly and efficiently, thereby greatly improving the measurement efficiency.
The method for measuring the geometrical error of the machine tool based on the ball arm instrument comprises the following steps:
step 1, establishing a five-axis machine tool geometric error model based on a spiral theory.
And 2, establishing a mathematical model for the uniform-speed linkage of the X axis and the C axis of the machine tool, ensuring that the ball arm instrument acquires data at a uniform speed in the measurement process, and calculating the machine tool code through the mathematical model.
And 3, performing a measurement experiment by using the machine tool code. And (3) carrying out error decoupling on the measured data of the ball arm instrument based on a particle swarm algorithm, and solving 6 geometric errors in the two-axis linkage measurement process.
In the step 1, a five-axis machine tool geometric error model is established based on a spiral theory, and the method comprises the following steps:
step 1.1, dividing kinematic chains of a five-axis machine tool into a cutter chain and a workpiece chain, wherein the two kinematic chains are as follows:
Figure BSA0000214494140000011
Figure BSA0000214494140000012
wherein g isbtAnd gbwRepresenting the position of the tool and the workpiece in the ideal case with respect to the machine coordinate system, gbt(0) And gbw(0) Representing the initial position of the tool and workpiece relative to the machine coordinate system in an ideal case,
Figure BSA0000214494140000013
respectively, the X-axis rotation, the Y-axis rotation, the B-axis rotation, the Z-axis rotation and the C-axis rotation.
And step 1.2, introducing a geometric error into the machine tool model by left-multiplying the error rotation. Taking the C axis as an example, the geometric error can be expressed as:
Figure BSA0000214494140000021
wherein
Figure BSA0000214494140000022
Is the error rotation quantity of the C axis,
Figure BSA0000214494140000023
and
Figure BSA0000214494140000024
indicating the position error of the C-axis on the X-axis and the Y-axis,
Figure BSA0000214494140000025
and
Figure BSA0000214494140000026
the direction error of the C axis on the a axis and the B axis is shown.
Obtaining a geometric error model of the five-axis machine tool by left-multiplying the error rotation:
Figure BSA0000214494140000027
Figure BSA0000214494140000028
Figure BSA0000214494140000029
wherein
Figure BSA00002144941400000210
Respectively as an X-axis error rotation, a Y-axis error rotation, a B-axis error rotation and a Z-axis error rotation,
Figure BSA00002144941400000211
and
Figure BSA00002144941400000212
respectively representing the positions of the tool and the workpiece relative to the machine coordinate system under the influence of the geometric errors,
Figure BSA00002144941400000213
indicating that the geometric error affects the position of the lower tool relative to the workpiece.
Further, a mathematical model for uniform-speed linkage of the X axis and the C axis of the machine tool is established in the step 2, the fact that the ball rod instrument collects data at a uniform speed and moves synchronously with the actual movement in the measuring process is ensured, and the machine tool code is calculated through the mathematical model, and the method comprises the following steps:
and 2.1, in the measuring process, the X axis carries out linear reciprocating motion of +250 to +50, the C axis carries out rotary motion of 0 to 360 degrees, a ball bar instrument with the length of 150mm is selected, and a machine tool coordinate system is defined on the axis of the C axis. In the measuring process, the distance between the tool cup of the main shaft of the ball bar instrument and the tool cup of the base is ensured to be 150mm constantly so as to adapt to the length of the ball bar instrument. X-axis displacement X and C-axis rotation angle theta of machine toolCHave the following relationship between:
Figure BSA00002144941400000214
and 2.2, modeling the movement track of the machine tool cutter relative to the workpiece coordinate system in the experimental process based on the spiral theory. Because only the X-axis and the C-axis are involved in the linkage process, the matrix forms of the Y-axis rotation, the Z-axis rotation and the B-axis rotation in the machine tool model are unit matrices, and the machine tool model is as follows:
Figure BSA00002144941400000215
wherein
Figure BSA00002144941400000216
Which represents the position of the machine tool relative to the workpiece in the ideal X-axis and C-axis linkage,
Figure BSA00002144941400000217
and
Figure BSA00002144941400000218
respectively representing the initial positions of the tool and the workpiece in the X-axis and C-axis linkage under the ideal condition relative to the coordinate system of the machine tool. The position of the tool relative to the workpiece coordinate system is:
Figure BSA00002144941400000219
and 2.3, in order to realize the synchronization of the data collected by the ball arm instrument and the actual motion of the machine tool in the measuring process, the X axis and the C axis need to be linked at a constant speed. And (3) simulating the position of the cutter relative to a coordinate system by using MATLAB software to obtain a circular track with the radius of 150 mm. The measurement trajectory of the cue instrument is equally divided by using the circular trajectory, and the coordinates of an equal division point corresponding to a central angle theta are (150cos theta, 150sin theta). The coordinates of the bisector point, as known from the position of the tool relative to the workpiece coordinate system, are (Xcos θ)C-100，-XsinθC). From which theta and theta are constructedCThe relation between the two is as follows:
Figure BSA0000214494140000031
the distance d between every two points in the equally divided circular linkage track is obtained through calculationXCIs 0.2618mm, thereby realizing the uniform speed linkage of the X axis and the C axis.
Further, a measurement experiment is performed using the machine tool code in step 3. Carry out error decoupling to the club appearance measured data based on particle swarm algorithm, solve 6 geometric errors in the diaxon linkage measurement process, contain the step:
and 3.1, calibrating the tool cup of the main shaft of the sphere bar instrument and the tool cup of the base before measurement. The ball arm instrument base is placed on the pan-tilt head, and the position of the ball arm instrument base is detected by the probe. If the position of the device is deviated, the device can be corrected by adjusting the holder; and detecting the offset condition of the main shaft tool cup by using a dial indicator.
And 3.2, after the main shaft tool cup and the base tool cup are calibrated, performing an error measurement experiment of an X axis and a C axis by using the compiled machine tool code. Only X-axis and C-axis motions are involved in the measurement process, so that only 6 geometric errors of the X-axis and the C-axis are considered, and an error model in the X-axis and C-axis linkage process is as follows:
Figure BSA0000214494140000032
wherein
Figure BSA0000214494140000033
The position of a machine tool cutter relative to a workpiece in X-axis and C-axis linkage under the influence of errors.
And 3.3, decoupling the geometric errors in the linkage process of the X axis and the C axis according to the measurement data of the ball rod instrument. In the measuring process, the actual position of the cutter relative to the workpiece coordinate system is the actual club length of the club instrument.
Figure BSA0000214494140000034
Wherein L isDBBNamely the club length data measured by the club instrument.
By substituting the measurement data of the ball arm apparatus, L can be constructedDBBAnd 6-term geometric error. The system of equations is reduced to a function F (x), where 6 geometric errors are set to x1、x2、x3、x4、x5、x6。
Figure BSA0000214494140000035
And solving an overdetermined equation set based on a particle swarm algorithm. The iteration number is set to be 500, the population size is set to be 500, and the speed is set to be 500An iteration is performed to 10, and x is found when the value of the function F (x) is 01To x6The value of (c). The global optimal solution of the equation is 6 geometric error values obtained by error decoupling.
Figure BSA0000214494140000036
The invention relates to a method for measuring geometrical errors of a machine tool based on a ball arm instrument, which has the following specific beneficial effects:
according to the invention, the measurement of the geometric errors of the linear shaft and the rotating shaft can be realized only by installing experimental equipment once, so that the detection efficiency is greatly improved. Compared with the traditional method for measuring the geometric errors of the linear shaft or the rotating shaft independently, the method can be used for measuring the geometric errors of the linear shaft and the rotating shaft simultaneously, and is high in measurement precision and good in practicability.
Drawings
FIG. 1 is a schematic diagram of a five-axis machine tool.
Fig. 2 is a schematic diagram of the C-axis geometric error.
FIG. 3 is a schematic diagram of the linkage relationship between the X-axis and the C-axis.
FIG. 4 is a schematic diagram of linkage tracks of the X-axis and the C-axis.
FIG. 5 is a schematic diagram of a measurement experiment in an embodiment of the method of the present invention.
FIG. 6 is a graph of ball bar measurement data for an example of the method of the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
FIG. 1 is a schematic diagram of a five-axis NC machine tool, which is taken as an example to illustrate the method of the present invention.
In the step 1, a five-axis machine tool geometric error model is established based on a spiral theory, and the method comprises the following steps:
step 1.1, dividing kinematic chains of a five-axis machine tool into a cutter chain and a workpiece chain, wherein the two kinematic chains are as follows:
Figure BSA0000214494140000041
Figure BSA0000214494140000042
wherein g isbtAnd gbwRepresenting the position of the tool and the workpiece in the ideal case with respect to the machine coordinate system, gbt(0) And gbw(0) Representing the initial position of the tool and workpiece relative to the machine coordinate system in an ideal case,
Figure BSA0000214494140000043
respectively, the X-axis rotation, the Y-axis rotation, the B-axis rotation, the Z-axis rotation and the C-axis rotation.
And step 1.2, introducing a geometric error into the machine tool model by left-multiplying the error rotation. The geometric error of the C-axis is shown in fig. 2, and can be expressed as:
Figure BSA0000214494140000044
wherein
Figure BSA0000214494140000045
Is the error rotation quantity of the C axis,
Figure BSA0000214494140000046
and
Figure BSA0000214494140000047
indicating the position error of the C-axis on the X-axis and the Y-axis,
Figure BSA0000214494140000048
and
Figure BSA0000214494140000049
the direction error of the C axis on the a axis and the B axis is shown.
Obtaining a geometric error model of the five-axis machine tool by left-multiplying the error rotation:
Figure BSA00002144941400000410
Figure BSA00002144941400000411
Figure BSA00002144941400000412
wherein
Figure BSA00002144941400000413
Respectively as an X-axis error rotation, a Y-axis error rotation, a B-axis error rotation and a Z-axis error rotation,
Figure BSA00002144941400000414
and
Figure BSA00002144941400000415
respectively representing the positions of the tool and the workpiece relative to the machine coordinate system under the influence of the geometric errors,
Figure BSA0000214494140000051
indicating that the geometric error affects the position of the lower tool relative to the workpiece.
Step 2, establishing a mathematical model for uniform-speed linkage of an X axis and a C axis of the machine tool, ensuring that the ball arm instrument acquires data at a uniform speed and moves synchronously with the actual motion in the measuring process, and calculating the machine tool code through the mathematical model, wherein the mathematical model comprises the following steps:
and 2.1, in the measuring process, the X axis carries out linear reciprocating motion of +250 to +50, the C axis carries out rotary motion of 0 to 360 degrees, a ball bar instrument with the length of 150mm is selected, and a machine tool coordinate system is defined on the axis of the C axis. In the measurement process, the distance between the tool cup of the main shaft of the ball bar instrument and the tool cup of the base is ensured to be 150mm constantly so as to adapt to the length of the ball bar instrument, and the linkage relation is shown in figure 3. X-axis displacement X and C-axis rotation angle theta of machine toolCHave the following relationship between:
Figure BSA0000214494140000052
and 2.2, modeling the movement track of the machine tool cutter relative to the workpiece coordinate system in the experimental process based on the spiral theory. Because only the X-axis and the C-axis are involved in the linkage process, the matrix forms of the Y-axis rotation, the Z-axis rotation and the B-axis rotation in the machine tool model are unit matrices, and the machine tool model is as follows:
Figure BSA0000214494140000053
wherein
Figure BSA0000214494140000054
Which represents the position of the machine tool relative to the workpiece in the ideal X-axis and C-axis linkage,
Figure BSA0000214494140000055
and
Figure BSA0000214494140000056
respectively representing the initial positions of the tool and the workpiece in the X-axis and C-axis linkage under the ideal condition relative to the coordinate system of the machine tool. The position of the tool relative to the workpiece coordinate system is:
Figure BSA0000214494140000057
and 2.3, in order to realize the synchronization of the data collected by the ball arm instrument and the actual motion of the machine tool in the measuring process, the X axis and the C axis need to be linked at a constant speed. The position of the tool relative to the coordinate system was simulated using MATLAB software to obtain a circular trajectory with a radius of 150mm, as shown in fig. 4. The measurement trajectory of the cue instrument is equally divided by using the circular trajectory, and the coordinates of an equal division point corresponding to a central angle theta are (150cos theta, 150sin theta). The coordinates of the bisector point, as known from the position of the tool relative to the workpiece coordinate system, are (Xcos θ)C-100，-XsinθC). From which theta and theta are constructedCThe relation between the two is as follows:
Figure BSA0000214494140000058
the distance d between every two points in the equally divided circular linkage track is obtained through calculationXC0.2618mm, the uniform speed linkage of the X axis and the C axis is effectively realized.
In step 3, a measurement experiment is performed using the machine tool code. Carry out error decoupling to the club appearance measured data based on particle swarm algorithm, solve 6 geometric errors in the diaxon linkage measurement process, contain the step:
and 3.1, calibrating the tool cup of the main shaft of the sphere bar instrument and the tool cup of the base before measurement. The ball arm instrument base is placed on the pan-tilt head, and the position of the ball arm instrument base is detected by the probe. If the position of the device is deviated, the device can be corrected by adjusting the holder; and detecting the offset condition of the main shaft tool cup by using a dial indicator.
And 3.2, after the main shaft tool cup and the base tool cup are calibrated, performing an X-axis and C-axis error measurement experiment by using the compiled machine tool code, wherein the experimental process is shown in the attached drawing 5. Only X-axis and C-axis motions are involved in the measurement process, so that only 6 geometric errors of the X-axis and the C-axis are considered, and an error model in the X-axis and C-axis linkage process is as follows:
Figure BSA0000214494140000061
wherein
Figure BSA0000214494140000062
The position of a machine tool cutter relative to a workpiece in X-axis and C-axis linkage under the influence of errors.
And 3.3, decoupling the geometric error in the linkage process of the X axis and the C axis according to the measurement data of the ball rod instrument shown in the attached figure 6. In the measuring process, the actual position of the cutter relative to the workpiece coordinate system is the actual club length of the club instrument.
Figure BSA0000214494140000063
Wherein L isDBBNamely the club length data measured by the club instrument.
By substituting the measurement data of the ball arm apparatus, L can be constructedDBBAnd 6-term geometric error. The system of equations is reduced to a function F (x), where 6 geometric errors are set to x1、x2、x3、x4、x5、x6。
Figure BSA0000214494140000064
And solving an overdetermined equation set based on a particle swarm algorithm. The number of iterations is set to 500, the population size is set to 500, the speed is set to 10, the iterations are performed, and x is obtained when the value of the function F (x) is 01To x6The value of (c). The global optimal solution of the equation is 6 geometric error values obtained by error decoupling.
Figure BSA0000214494140000065
The invention finally obtains 6 geometric errors of the linear axis and the rotating axis of the machine tool. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention, as any modifications, equivalent substitutions, improvements and the like, which are within the spirit and principle of the invention, are intended to be covered by the scope of the invention.

Claims (4)

1. A machine tool geometric error measuring method based on a ball bar instrument is characterized by comprising the following steps:
step 1, establishing a five-axis machine tool geometric error model based on a spiral theory;
step 2, establishing a mathematical model of constant-speed linkage of an X axis and a C axis of the machine tool, ensuring that the club instrument acquires data at a constant speed and moves synchronously with the actual motion in the measuring process, and calculating the machine tool code through the mathematical model;
and 3, performing a measurement experiment by using machine tool codes, performing error decoupling on the measured data of the ball arm instrument based on a particle swarm algorithm, and solving 6 geometric errors in the two-axis linkage measurement process.
2. The method for measuring the geometric error of the machine tool based on the ball bar instrument as claimed in claim 1, wherein in the step 1, a geometric error model of the five-axis machine tool is established based on a spiral theory, and the method comprises the following steps:
step 1.1, dividing kinematic chains of a five-axis machine tool into a cutter chain and a workpiece chain, wherein the two kinematic chains are as follows:
Figure FSA0000214494130000011
Figure FSA0000214494130000012
wherein g isbtAnd gbwRepresenting the position of the tool and the workpiece in the ideal case with respect to the machine coordinate system, gbt(0) And gbw(0) Representing the initial position of the tool and workpiece relative to the machine coordinate system in an ideal case,
Figure FSA0000214494130000013
respectively X-axis rotation, Y-axis rotation, B-axis rotation, Z-axis rotation and C-axis rotation;
step 1.2, introducing a geometric error into a machine tool model through left-multiplication error rotation; taking the C axis as an example, the geometric error can be expressed as:
Figure FSA0000214494130000014
wherein
Figure FSA0000214494130000015
Is the error rotation quantity of the C axis,
Figure FSA0000214494130000016
and
Figure FSA0000214494130000017
denotes the C axis is on the X axis andthe position error on the Y-axis is,
Figure FSA0000214494130000018
and
Figure FSA0000214494130000019
the direction errors of the C axis on the A axis and the B axis are represented;
obtaining a geometric error model of the five-axis machine tool by left-multiplying the error rotation:
Figure FSA00002144941300000110
Figure FSA00002144941300000111
Figure FSA00002144941300000112
wherein
Figure FSA00002144941300000113
Respectively as an X-axis error rotation, a Y-axis error rotation, a B-axis error rotation and a Z-axis error rotation,
Figure FSA00002144941300000114
and
Figure FSA00002144941300000115
respectively representing the positions of the tool and the workpiece relative to the machine coordinate system under the influence of the geometric errors,
Figure FSA00002144941300000116
indicating that the geometric error affects the position of the lower tool relative to the workpiece.
3. The method for measuring the geometric error of the machine tool based on the ball rod instrument as claimed in claim 1, wherein in the step 2, a mathematical model for the uniform-speed linkage of the X axis and the C axis of the machine tool is established, so that the uniform-speed data acquisition of the ball rod instrument is ensured to be synchronous with the actual motion in the measuring process, and the machine tool code is calculated through the mathematical model, and the method comprises the following steps:
step 2.1, in the measuring process, the X axis carries out linear reciprocating motion of +250 to +50, the C axis carries out rotary motion of 0 to 360 degrees, a ball bar instrument with the length of 150mm is selected, and a machine tool coordinate system is defined on the axis of the C axis; in the measuring process, the distance between the tool cup of the main shaft of the ball arm apparatus and the tool cup of the base is ensured to be 150mm constantly so as to adapt to the length of the ball arm apparatus; x-axis displacement X and C-axis rotation angle theta of machine toolCHave the following relationship between:
Figure FSA0000214494130000021
2.2, modeling the movement track of the machine tool cutter relative to a workpiece coordinate system in the experimental process based on a spiral theory, wherein the Y-axis rotation, the Z-axis rotation and the B-axis rotation in the machine tool model are unit matrixes because only X-axis and C-axis are involved in the linkage process, and the machine tool model is as follows:
Figure FSA0000214494130000022
wherein
Figure FSA0000214494130000023
Which represents the position of the machine tool relative to the workpiece in the ideal X-axis and C-axis linkage,
Figure FSA0000214494130000024
and
Figure FSA0000214494130000025
respectively representing the initial positions of the tool and the workpiece relative to the coordinate system of the machine tool in the X-axis and C-axis linkage under the ideal condition, wherein the position of the tool relative to the coordinate system of the workpiece is as follows:
Figure FSA0000214494130000026
step 2.3, in order to realize the synchronization of the data collected by the ball arm instrument and the actual motion of the machine tool in the measuring process, the X axis and the C axis need to be linked at a constant speed; simulating the position of the cutter relative to a coordinate system by using MATLAB software to obtain a circular track with the radius of 150 mm; the measurement trajectory of the ball arm is equally divided by the circular trajectory, coordinates of an equally divided point corresponding to a central angle theta are (150cos theta, 150sin theta), and the coordinates of the equally divided point are (Xcos theta) as known from the position of the tool relative to the workpiece coordinate systemC-100，-XsinθC) From which theta and theta are constructedCThe relation between the two is as follows:
Figure FSA0000214494130000027
the distances between every two points in the equally divided circular linkage track are equal, so that the uniform speed linkage of the X axis and the C axis is realized.
4. The method for measuring the geometric errors of the machine tool based on the ball rod instrument as claimed in claim 1, wherein in the step 3, the machine tool codes are used for carrying out a measurement experiment, error decoupling is carried out on measured data of the ball rod instrument based on a particle swarm algorithm, 6 geometric errors in the process of two-axis linkage measurement are solved, and the method comprises the following steps:
step 3.1, before measurement, calibrating the tool cup of the main shaft of the sphere bar instrument and the tool cup of the base; placing a ball arm instrument base on the pan-tilt-zoom table, and detecting the position of the ball arm instrument base by using a probe; if the position of the device is deviated, the device can be corrected by adjusting the holder; detecting the bias condition of the main shaft tool cup by using a dial indicator;
step 3.2, after the main shaft tool cup and the base tool cup are calibrated, utilizing the compiled machine tool code to carry out an error measurement experiment of an X axis and a C axis; only X-axis and C-axis motions are involved in the measurement process, so that only 6 geometric errors of the X-axis and the C-axis are considered, and an error model in the X-axis and C-axis linkage process is as follows:
Figure FSA0000214494130000028
wherein
Figure FSA0000214494130000029
The position of a machine tool cutter relative to a workpiece in the X-axis and C-axis linkage under the influence of errors;
3.3, decoupling geometric errors in the linkage process of the X axis and the C axis according to the measurement data of the ball arm instrument; in the measuring process, the actual position of the cutter relative to the workpiece coordinate system is the actual club length of the club instrument;
Figure FSA00002144941300000210
wherein L isDBBNamely the club length data measured by the club instrument;
by substituting the measurement data of the ball arm apparatus, L can be constructedDBBAn overdetermined system of equations with 6-term geometric errors; the system of equations is reduced to a function F (x), where 6 geometric errors are set to x1、x2、x3、x4、x5、x6；
Figure FSA0000214494130000031
Solving an overdetermined equation set based on a particle swarm algorithm; the number of iterations is set to 500, the population size is set to 500, the speed is set to 10, the iterations are performed, and x is obtained when the value of the function F (x) is 01To x6A value of (d); the global optimal solution of the equation is 6 geometric error values obtained by error decoupling.
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CN114012507A (en) * 2021-12-09 2022-02-08 天津工业大学 Identification method for position-independent errors of double rotating shafts of cradle type five-axis machine tool
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Application publication date: 20201103