WO2013181884A1 - Procédé de mesure en ligne et in situ d'un bras articulé unique, et dispositif - Google Patents

Procédé de mesure en ligne et in situ d'un bras articulé unique, et dispositif Download PDF

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Publication number
WO2013181884A1
WO2013181884A1 PCT/CN2012/079381 CN2012079381W WO2013181884A1 WO 2013181884 A1 WO2013181884 A1 WO 2013181884A1 CN 2012079381 W CN2012079381 W CN 2012079381W WO 2013181884 A1 WO2013181884 A1 WO 2013181884A1
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WIPO (PCT)
Prior art keywords
probe
measuring
precision
articulated arm
measurement
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Application number
PCT/CN2012/079381
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English (en)
Chinese (zh)
Inventor
裘祖荣
张国雄
刘书桂
李杏华
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天津大学
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Publication of WO2013181884A1 publication Critical patent/WO2013181884A1/fr

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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, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/045—Correction of measurements
    • 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, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines

Definitions

  • the invention belongs to the field of mechanical quantity measurement technology and instrument, and particularly relates to an online measurement system. Specifically, it relates to a single-section arm online in-situ measurement system. Background technique
  • Figure 1 is a schematic illustration of a typical in-process measuring device.
  • the measuring device 103 measures the size of the workpiece during the machining of the workpiece 102. When the size of the workpiece 102 is close to the required size, the measuring device 103 issues an instruction to switch the machine from rough machining to finishing. When the size of the workpiece 102 reaches the desired size, the measuring device 103 issues an instruction to stop the machining.
  • 101 is a machine headboard
  • 104 is a tailstock.
  • This in-process measuring device can effectively improve machining accuracy and prevent waste.
  • the Italian Marpose company and China Zhongyuan Measuring Instrument Factory produce such processing measuring devices.
  • the measuring device in this type of machining can only be used for the measurement of some simple parameters such as shaft diameter, bore diameter and step height.
  • the national economy and national defense need to process many complicated parts, such as the engine's whole leaf disc, gears, and cabinets. These parts are complex in shape.
  • the first thing to look at is the shape of the complex surfaces such as the blade or the tooth surface, and their relative positions.
  • the measuring device in the process shown in Figure 1 is obviously powerless.
  • the most common method currently used is to place a dedicated, or general-purpose measuring instrument, including a coordinate measuring machine, between the two processes of the line.
  • a more comprehensive inspection of the workpiece after completion of a machining process According to the test results, only the parts that meet the requirements in the previous process are put into the next process. The advantage of this is to avoid passing unqualified parts into the next process, resulting in waste of working hours.
  • This method is an on-line inspection. It is tested on the production line, but it is not in-situ inspection. It is not detected at the processing station, but is removed after processing on the previous machine and sent to the measuring machine for inspection.
  • the engine's overall leaf discs, large gears, large cabinets, etc. are very expensive, and the requirements for raw materials are also high.
  • the raw materials and the previously completed process are expensive. It is a pity to scrap because some local parameters in a certain process do not meet the requirements. It should be repaired as much as possible to make it a qualified one.
  • the widely used on-line measurement method is to remove it from the machine after processing and send it to the measuring machine for testing. If it is found that some local parameters do not meet the requirements and then returned to the original machine for repair, there are many difficulties. First, the entire process is not smooth. Second, the workpiece is lost from the machine after it is removed from the machine. Reinstallation will cause errors due to baseline changes. In order to solve these two problems, online in-position detection is required.
  • Some CNC machine tools and machining centers have detection devices. The easiest is to use the probes configured on the machine to detect tool wear after machining. This method can only find the wear of the tool and can not find other machining errors. A more advanced method is to change the probe at the tool after the tool exits, and use the machine to drive the probe to detect the workpiece. Although this method can be found to be affected by tool wear, machine vibration, deformation due to cutting force, etc., it is problematic in principle, and it cannot find various errors due to machine motion errors. The tool and the probe are driven by the same control system and motion mechanism, and the motion error of the machine tool affects both the machining error and the measurement error. Summary of the invention
  • the invention aims to solve the deficiencies of the prior art, and provides an on-line measuring device for machining, which can detect the influence of tool wear, machine vibration, deformation caused by cutting force, machine tool motion error, etc.
  • the technical solution adopted by the present invention is a single joint arm online in-situ measuring device, which comprises an articulated arm, a probe rotating body, a probe, a z-moving component, a moving component, an error compensation system, and a data processing and control computer.
  • the joint arm is made of carbon fiber with small specific gravity and large elastic modulus; the front end of the joint arm is equipped with a probe revolving body, and the probe is mounted on the revolving body of the probe, and the joint arm set has small error in radial and axial movement.
  • the joint arm rotates with the precision shaft system.
  • the joint arm can rotate around the precision shaft system; the z-direction moving part is made of precision shaft system and z-direction slide plate.
  • the guide rail seat is composed of a precision angle measuring system on the precision shaft system.
  • the motor drives the precision shaft system to rotate the precision shaft to drive the required angle of the joint arm, and the precision angle measuring system measures the angle required for rotation;
  • the seat of the shaft system is fixed on the z-direction slide plate, and the two rams on the z-direction slide plate and the precision guide rail on the z-direction guide rail seat constitute a linear motion guide pair, and the z-direction slide plate and the z-direction guide rail seat are respectively equipped with a grating ruler and
  • the readhead uses the scale and the readhead to read the amount of movement of the z-direction slide relative to the z-direction guide rail.
  • the other motor is driven by its reduction gearbox and lead screw. Moving the slider to a desired position;
  • the X-direction moving part is composed of JC to the slide plate, the z-direction rail seat is fixed on the JC-direction slide plate, and the JC slides the two rams on the slide plate with the precision guide rails on the machine base to form a linear motion guide pair, the X-direction slide plate and the base plate.
  • the grating is respectively equipped with a grating ruler and a readhead, and the grating head and the readhead are used to read the amount of movement of the X-direction slide plate relative to the base; under computer control, the third motor drives the X-direction through the reduction gear box and the lead screw The skateboard moves to the desired position;
  • the error compensation system consists of: a self-collimating light pipe on the base of the machine, a long mirror on the z-direction slide, and a self-collimating light pipe to measure the change of the angular position of the long mirror during the measurement, and press This introduces error compensation;
  • the relative position of the seat of the precision shaft system and the z-direction slide plate, and the relative position of the z-direction guide rail seat and the X-direction slide plate can be adjusted; according to the calibration result, the adjustment mechanism of the measuring machine is used to adjust the rotation axis of the precision shaft system parallel to the z-direction movement. Adjusting the z-direction motion to be perpendicular to the X-direction motion. Due to the limitation of the mechanical structure and the adjustment sensitivity limit, the adjustment may not be completely ideal. After adjusting and stabilizing for a period of time, the calibration is performed again, and the residual error is used as the basis for error compensation. .
  • the rotating body is a measuring head rotating body capable of continuous rotation, or a non-continuous rotating measuring head rotating body, the measuring head is a scanning or triggering measuring head, the rotating body is rotated around the horizontal and vertical axes, and the joint arm is rotated around the precision shaft system, z z-direction movement to the skateboard; X moves toward the skateboard, and finally drives the probe to achieve 5 degrees of freedom.
  • the single joint arm online in-situ measurement method is realized by means of the aforementioned single joint arm online in-situ measuring device, and includes the following steps:
  • the rotation axis of the precision shaft system is parallel to the z-direction motion, and the z-direction motion is adjusted to be perpendicular to the motion. Due to the limitation of the mechanical structure and the adjustment sensitivity limit, the adjustment may not be completely ideal, and the calibration is performed again after adjusting and stabilizing for a period of time.
  • the position of the joint arm that is, the center of rotation of the probe revolving body, parallel to the perpendicular line of the precision axis 5 axis and the X-direction movement is defined as the zero position of the joint arm rotation angle, and when the probe revolving body is rotated about the B-axis, that is, the vertical axis
  • the position where the position of the measuring end is constant is defined as the cc angle zero of the revolving body 3 of the probe.
  • the measurement signal is conditioned, and stored after the analog-to-digital conversion; the error is compensated according to the established mathematical model and the parameters and error values of the measuring machine obtained by the calibration, and the measured value is obtained.
  • the coordinate values of the points of the point cloud are used to fit and reconstruct the coordinate values of the obtained point cloud to obtain the shape of the measured surface;
  • the fitted and reconstructed data is compared with the theoretical mathematical model of the measured part, and the required acceptance is passed, or allowed to enter the next process; for deviations from the technical requirements, the amount of repair is calculated, and a rework process is formed.
  • the measuring part can be easily retracted outside the glass cover of the machine tool, without being affected by coolant and chips.
  • the probe can be gathered away from damage.
  • the measuring machine With the probe revolving body, the measuring machine has 5 degrees of freedom of movement. Under the control of the computer, the probe can be inserted into the slot of the part to be tested and the measuring end can be moved to the specified point to be measured. It is possible to measure complex profiles with narrow grooves and large torsion angles.
  • the machine turning table can be used to transfer the parts to be measured to the front end of the machine for measurement.
  • the indexing error of the machine table and the radial and axial motion errors of the rotating shaft are compensated, so that the error of the machine turning table is measured. No effect.
  • a self-collimating light pipe is mounted on the base, and a long mirror is mounted on the sliding slide. Can effectively compensate X and sum z influences the angular motion error and gravity deformation of the moving parts to improve the measurement accuracy.
  • the vertical moving parts are in the middle link, and the vertical moving parts only need to drive the joint arm, the probe, the probe revolving body and the z-direction slide, which is convenient to drive.
  • the measuring machine has a good performance control system and a wealth of measurement software. It can adjust, error compensate, fit and reconstruct the measurement data and form a rework instruction.
  • Figure 1 is a schematic diagram of the measuring device in the machining of shaft parts.
  • 101 is a machine headboard, 102 workpieces, 103 measuring devices, and 104 is a tailstock.
  • Figure 2 shows a typical layout of the machine tool.
  • 1 auxiliary station 2 machine table, tool holder 3, 4 turntable, and another auxiliary station 5.
  • Figure 3 shows the working principle of the single joint arm online in-situ measuring machine.
  • Figure 4 is a schematic diagram of a single articulated arm measuring machine in a collapsed state.
  • Figure 5 is a schematic view of a machine equipped with a standard ball plate. detailed description
  • a basic principle of metrology is that the inspection device should be independent of the machine tool.
  • the measuring machine should meet the following requirements.
  • Figure 2 shows a typical layout of a CNC machine tool and machining center.
  • the machined part is mounted on the turntable 4 of the machine table 2, behind which is the tool holder 3, and there are two auxiliary stations 1 and 5 in front for loading and unloading.
  • the measuring machine can only be installed in a small area between the two auxiliary stations 1 and 5 (usually only four or five hundred millimeters wide).
  • the measuring machine has certain restrictions in the JC direction, and it should not protrude into the workshop aisle.
  • the narrow area between the two auxiliary stations 1 and 5 can be installed in the in-situ measuring machine, but it should not be permanently occupied, because in some cases it is also desirable to use this space for some other work. , such as maintenance, cleaning, etc.
  • the detecting part has an exit and gather function.
  • the detecting part should extend at least to the rotating shaft of the turntable 4 to achieve a comprehensive measurement of the workpiece.
  • the part to be tested should be retracted outside the glass cover of the machine during processing to protect it from coolant and chips.
  • the detecting component also has a folding function to effectively protect the probe.
  • the measurement efficiency is high, and the measurement can be performed automatically to reduce the machine tool time occupied by the measurement.
  • the measurement results can be used for part repair and form a rework instruction.
  • the widely used orthogonal coordinate measuring machine cannot meet the above requirements due to its large size and heavy weight, and is not suitable for online in-situ measurement of workpieces.
  • the existing product articulated arm measuring machine cannot meet the above requirements due to its low precision, generally manual operation, and low efficiency, and is not suitable for online in-situ measurement.
  • the invention provides a measuring system capable of comprehensively detecting various dimensions, shapes and position parameters of complex workpieces in the in-situ processing without removing the workpiece after the machine tool is finished.
  • a measuring system that can issue a return instruction to the machine tool and perform a rework process if the workpiece is found to be unsatisfactory.
  • the on-line in-situ measurement system of the articulated arm of the present invention consists of the various parts shown in FIG. Its main features are:
  • the articulated arm 34 that can be rotated about a vertical precision shaft system 35. During the measurement, it protrudes into the glass cover of the machine tool to measure the workpiece; after the measurement is completed, the articulated arm 34 is driven by the motor 31 through the reduction gear box under the computer control, rotates 180 °, and retreats outside the glass cover of the machine tool.
  • the probe revolving body 33 and the probe 32 are mounted at the front end of the articulated arm 34.
  • the revolving body 33 can be rotated around the horizontal and vertical axes
  • the articulated arm 34 can be rotated around the precision shafting 35
  • the vertical sliding plate 36 can be moved in the z direction
  • the horizontal sliding plate 312 can be moved in the x direction to achieve 5 freedoms. Degree of movement.
  • the _y-direction moving guide is not required, which greatly reduces the size of the measuring machine _y, so that it can be easily installed between the two auxiliary stations of the machine tool (see Figure 2). ).
  • the directional displacement of the measuring end is produced by the rotation of the articulated arm 34, which has a non-linear relationship between them.
  • the rotation of the articulated arm 34 also causes additional movement in the JC direction.
  • the rotation of the measuring head revolving body will cause additional displacement of the measuring end in the three directions of x, _y and z.
  • the weight of the measuring machine is greatly reduced by reducing the size of the measuring machine in the X direction. It can be easily removed from the side of the machine when needed.
  • the probe revolving body 33 and the probe 32 can be selected according to the task.
  • the blade torsion angle is large, and the groove between the adjacent blades is narrow, and it is necessary to use a revolving body that can continuously rotate, such as Revo.
  • the torsion angle is not very large, and the parts with wide slots between adjacent teeth can be used for non-continuously rotating probe heads, such as rai0, TESASTAR, etc.
  • a scanning or triggering probe can be used.
  • self-collimation is mounted on the base 316.
  • Light The tube 317 is provided with a long mirror 37 on the z-direction slide 36.
  • the self-collimating light pipe 317 measures the change in the angular position of the long mirror 37 during the measurement, and introduces error compensation according to this, thereby improving the measurement accuracy.
  • the measuring machine By using the measuring machine to detect the change of the spherical center position of one or several balls on the standard ball plate 6 before and after the rotation of the turntable 4, the indexing error of the machine tool table and the radial and axial motion errors of the rotating shaft can be detected and the error is made. make up.
  • the measuring machine can perform scanning or point measurement as needed.
  • the measuring machine simultaneously collects the coordinate values X and z to the slide plate 312, the z-direction slide plate 36, the rotation angle ⁇ of the joint arm 34, the rotation angle ⁇ of the probe revolving body 33 about the horizontal and vertical axes, and the reading of the probe 32.
  • the straight tube 317 reads in both directions ⁇ ⁇ .
  • the length vector reading of the space coordinates of the probe in three directions in its own coordinate system is the angle value of the self-collimating light pipe in two directions ⁇ ⁇ , assuming that the optical path perpendicular to the self-collimating light pipe is a plane, where ⁇ direction They are the horizontal direction and the vertical direction in the plane.
  • the measurement signal is conditioned (including analog-to-digital conversion) and stored.
  • the coordinate values of each point of the measured point cloud are obtained.
  • the coordinates of each point of the obtained point cloud are data-combined and reconstructed to obtain the shape of the measured surface.
  • the machine tool turntable indexing error and the radial and axial motion errors of the rotating shaft are compensated according to the result of measuring the ball center position on the standard disk, and the measurement will be performed. The results are unified into the same coordinate system.
  • the invention proposes a single joint arm online in-situ measurement system. Its working principle is shown as in Fig. 3.
  • the joint arm 34 is made of carbon fiber with a small specific gravity and a large elastic modulus.
  • a probe revolving body 33 and a probe 32 are mounted at the front end thereof.
  • the probe revolving body 33 and the probe 32 can be selected according to the task situation. For parts such as the integral blade disc, where the blade torsion angle is large and the groove between adjacent blades is narrow, it is necessary to use a revolving body that can continuously rotate, such as Revo. For the general gear, the torsion angle is not very large, and the parts with wide slots between adjacent teeth can be used for non-continuously rotating probe heads, such as PH10 and Tesastar. According to Accuracy and measurement efficiency requirements can be used to scan or trigger the probe.
  • the articulated arm 4 is rotatable about a precision shaft system 35 having a small radial and axial motion error and a small angular pendulum motion error.
  • a precision angle measuring system is mounted on the precision shafting system 35.
  • the motor 31 drives the articulated arm 34 to the desired angle through the reduction gearbox.
  • the articulated arm 34 can be rotated 180 ° in one direction to withdraw the entire measuring machine out of the machine cover without the influence of coolant and chips.
  • the probe 32 can be folded away from damage. The maximum corner in the other direction needs to be set according to the range.
  • the seat of the precision shafting 35 is fixed to the z-direction slide 36, and the two rams 310 on the slide 36 and the precision guide rails on the z-guide rail 38 constitute a linear motion guide pair, the z-direction slide 36 and the z-direction guide rail.
  • a scale and a readhead are respectively mounted on the 38, and the amount of movement of the z-direction slide 36 relative to the z-direction guide rail 38 is read by it.
  • the motor 311 is moved by the reduction gear box and the lead screw 39 to the slider 36 to the desired position.
  • the z-guide rails 38 are fixed to the X-direction slides 312.
  • the two rams 315 on the X-direction slide 312 and the precision guide rails on the base 316 constitute a linear motion guide pair, and the JC is mounted on the slide 312 and the base 316, respectively.
  • a scale and a readhead are used to read the amount of movement of the X-direction slide 312 relative to the base 316.
  • the motor 314 drives the X to the slider 312 to the desired position via the reduction gearbox and lead screw 313.
  • the relative position of the seat of the precision shafting 35 and the z-direction slide 36, and the relative positions of the z-direction guide rail 38 and JC to the slide 312 can be adjusted.
  • the adjustment mechanism of the measuring machine is used to adjust the rotation axis of the precision shaft system 35 parallel to the z-direction motion, and adjust the z-direction motion to be perpendicular to the motion. Due to the limitation of mechanical structure and adjustment sensitivity limit, the adjustment cannot be completely ideal. After adjusting and stabilizing for a period of time, it is calibrated again, and the residual error is used as the basis for error compensation.
  • the position of the articulated arm 34 i.e., the center of rotation of the probe revolving body 33 to the perpendicular to the axis of the precision axis 35
  • the position at which the position of the measuring end is constant when the measuring head revolving body 33 is rotated about the B axis (vertical axis) is defined as the a-corner zero position of the revolving body 33 of the probe.
  • the position of the probe of the probe 32 parallel to the articulated arm 34 is defined as the ⁇ -zero position of the revolving body 33 of the probe.
  • the mathematical model of the measuring machine is established.
  • the position of the measuring machine in the collapsed state shown in Fig. 4 is taken as the "home" position. After the part has been machined and the glass cover of the machine is opened, let the articulated arm 4 rotate 180 ° in the opposite direction to the folding, and the measuring machine enters the working state.
  • the path planning of the measuring machine is formed.
  • the measuring machine performs a single blade or tooth, or some local measurement.
  • the probe is inserted into the groove of the part to be tested in the appropriate direction, and the measuring end is moved to the designated point to be tested.
  • the measuring machine can perform scanning or point measurement as needed.
  • the measuring machine simultaneously acquires the X-direction slide 312 (Fig. 3), the coordinate values X and z of the z-direction slide 36, the rotation angle ⁇ of the articulated arm 34, the rotation angle of the probe revolving body 33 about the horizontal and vertical axes, and the reading of the probe 32.
  • the self-collimating light pipe 317 reads in two directions ⁇ ⁇ .
  • the measurement signal is conditioned (including analog-to-digital conversion) and stored.
  • the coordinate values of the points of the measured point cloud are obtained.
  • Data fitting and reconstruction are performed on the coordinate values of the obtained point cloud to obtain the shape of the measured surface.
  • a measuring machine is also used to measure the position of one or more of the balls on the standard ball plate 6 before and after the rotation. According to the result of measuring the position of the spherical center on the standard spherical disk 6, the indexing error of the machine tool turret 4 and the radial and axial motion errors of the rotating shaft are compensated, and the measurement results are unified into the same coordinate system.
  • the fitted and reconstructed data is compared to the theoretical mathematical model of the part being tested, passed through acceptance, or allowed to proceed to the next step. For deviations from the technical requirements, the amount of repair is calculated and a repair processing procedure is formed.
  • the measuring machine After all measurements have been completed, under computer control, the measuring machine returns to the "home" position shown in Figure 4. If the measurement indicates that the machined part meets the requirements, remove the part and send it to the auxiliary station 1 or 5 shown in Figure 5. Then install and machine the next part. If the measurement indicates that the part being machined deviates from the technical requirements, the workpiece remains in place and the machine cover is closed. Rework processing is performed according to the formed rework processing program.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Machine Tool Sensing Apparatuses (AREA)

Abstract

L'invention porte sur un dispositif de mesure en ligne et in situ d'un bras articulé unique, qui est composé d'un bras articulé (34), d'une tête de mesure (32), d'une partie rotative (33) de la tête de mesure, d'une partie mobile dans la direction z, d'une partie mobile dans la direction x, d'un système de compensation d'erreur, d'un calculateur de traitement et de commande de données et d'un moteur électrique (31, 311 et 314). La partie rotative (33) de la tête de mesure est montée à l'extrémité avant du bras articulé (34), la tête de mesure (32) est montée sur la partie rotative (33) de la tête de mesure et le bras articulé (34) est monté sur un système d'arbre précis (35); la partie mobile dans la direction z est composée d'un système d'arbre précis (35), d'une plaque coulissante dans la direction z (36) et d'un siège de voie de guidage (38), la partie mobile dans la direction x est composée d'une plaque coulissante dans la direction x (312), et le siège de voie de guidage dans la direction z (38) est fixé sur la plaque coulissante dans la direction x (312); et le système de compensation d'erreur est composé d'un tube de lumière autocollimateur (317), monté sur la base de machine-outil (316), et d'un miroir réfléchissant de grande longueur (37) monté sur la plaque coulissante dans la direction z (36). L'invention porte également sur un procédé de mesure en ligne et in situ d'un bras articulé unique, qui est mis en œuvre avec le dispositif de mesure en ligne et in situ, mentionné ci-dessus, d'un bras articulé unique. Le dispositif de mesure et le procédé de mesure peuvent détecter l'effet exercé sur le traitement d'une usure d'élément de coupe, la vibration de la machine-outil, la déformation provoquée par la force de coupe, les erreurs de mouvement de la machine-outil, etc.
PCT/CN2012/079381 2012-06-04 2012-07-30 Procédé de mesure en ligne et in situ d'un bras articulé unique, et dispositif WO2013181884A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2012101807466A CN102768028A (zh) 2012-06-04 2012-06-04 单关节臂在线原位测量方法及装置
CN201210180746.6 2012-06-04

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WO2013181884A1 true WO2013181884A1 (fr) 2013-12-12

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