摘要
首先对6-DOF并联机构坐标测量机的组成结构及工作原理进行了介绍,然后针对该坐标测量机的运动特点,提出了一种基于逐次逼近算法的结构参数识别与修正方法。该方法以最小二乘逐次逼近算法为基础,以寻找6自由度并联机构坐标测量机的43个主要结构参数为目的。文中对所提算法的求解过程进行了详细的论述,并通过计算机仿真计算,对结构参数的识别与修正结果进行了验证。仿真结果表明,所提出的逐次逼近算法能够充分利用目标函数值的信息,优化搜索过程具有较强的方向性和目标性,且收敛速度较快。采用该方法对6自由度并联机构坐标测量机的结构参数进行识别与修正以后,可使该坐标测量机的测量精度得到明显改善。
Firstly, the structure, measuring theory and characteristics of a kind of coordinate measuring machine （CMM） using parallel-link mechanism with six spatial degrees of freedom （6-DOF） is described. Then, an approach based identification and modification method for the structural parameters of 6-DOF parallel-link CMM is presented. Based on the offered least-squares successive approximation algorithm, the forty-three main structural parameters of the 6-DOF parallel-link CMM are identified and modified. The solving procedure of the offered algorithm is discussed in detail in the paper, and the identification and modification results are verified by computer simulation. The simulation results indicate that the measuring accuracy of the studied 6-DOF parallel-link CMM can be improved obviously by using the above identification and modification method.
出处
《组合机床与自动化加工技术》
北大核心
2009年第8期68-73,共6页
Modular Machine Tool & Automatic Manufacturing Technique
关键词
6-DOF并联坐标测量机
结构参数识别与修正
计算机仿真
6-DOF parallel-link CMM
structural parameters identification and modification
computer simulation
