【摘要】 对多关节测量机的参数标定方法进行了研究,研究方法主要包括:根据Denavit-Hartenberg方法,在空间坐标转换的基础上建立了六自由度多关节坐标测量机的数学模型,进而讨论杆件间相对位置关系,研究了模型中系统参数及运动参数的标定问题,并设计一种全新的标定球,在此基础上又结合最小二乘法和迭代法的标定方法实现了参数的标定。实验证明运用该标定球能成功地进行系统参数的标定,精度可达到0.05mm,并通过计算和实验验证了该标定方法的可行性。更多还原

【Abstract】 The parametric calibration method of multi-joint coordinate measuring machine was discussed. First,according to Denavit-Hartenberg’s notation,a mathematical model of 6-freedom multi-joint coordinate measuring machine was described on the base of the principle of the homogenous coordinate transformation. Second,the relative positional relation of poles was discussed. Then a new calibration sphere was designed,and the systemic parameters and kinematical parameters of the calibration were researched in the model of the paper. Finally, the parameters was calibrated successfully,Experiment shows that this new calibration sphere can calibrate the systemic parameters and its precision can reach 0.05mm. Calculation and experiment verifies the feasibility of the calibration method.更多还原