【摘要】 基于局部指数积(localPOE)公式建立了柔性关节臂式测量机的理想运动学模型,依据各种误差因素修正得到实际运动学模型,详细分析了各种运动学参数误差对测量精度的影响.仿真结果表明,长度类的运动学参数误差对测量结果不会引起放大或缩小,而角度类的运动学参数误差会引起测量结果的严重放大.更多还原

【Abstract】 An ideal mathematical model of flexible articulated arm coordinate measuring machines (FAACMM) was established based on the local product-of-exponentials (Local POE) formula,and then an actual kinematic model was obtained by amending the ideal mathematical model according to various errors. Various kinematic parameter errors which affect the system’s measuring precision were analyzed detailedly. Simulation results show that the errors of length kinematic parameters do not cause the measurement results to zoom in or out,but the errors of angle kinematic parameters should result in serious amplification.更多还原