Measurement Principle Analysis and CAA Technology of the Intelligent Articulated CMM

智慧關節式座標測量機的量測原理分析及誤差修正技術

林慎旺(Shen-Wang Lin) ； 陳朝光(Cha`o-Kuang Chen)

《中國機械工程學刊》 30卷1期 (2009/02) Pp. 53-58

https://doi.org/10.29979/JCSME.200902.0008

摘要

本文在介紹一種六自由度智慧型關節式座標測量機的機械結構和量測原理，推導出其量測方程，重點在進行整體方案設計，增大座標測量機的整體量測空間，減少量測死角，同時對桿長進行優化設計。文中並將誤差修正技術(CAA)應用於該型座標測量機中；首先運用最小二乘法修正了圓光柵之量測誤差，提高了測角精度，然後再提出一種基於空間兩點距離的標定方法，該方法在使用API 雷射跟蹤儀作為基準，運用非線性最小二乘中的高斯－牛頓法，求解測量機量測方程的參數值。實驗結果證明，誤差修正技術能夠有效的提高測量機的整體精度。

並列摘要

The mechanical structure and principle of a kind of articulated arm CMM with 6 DOF is introduced. The measurement equation is deduced, and the architecture design, which makes the measurement space as large as possible and reduce the number of unreachable areas. At the same time, the design of arms is optimized. CAA is used in the application to improve its accuracy. First the least squares method is applied to amend circular grating measurement errors and to improve the angle measurement accuracy. Subsequently a calibration method based spatial distance between two points is proposed. With the laser tracker form API as a benchmark, the method employs the nonlinear least-squares Gauss-Newton method to identify the parameters of the machine. The experimental results show, that Error Correction Technology can effectively improve the overall precision of the articulation-type CMM.

並列關鍵字

articulated arm coordinat measuring machine ； non-orthogonal ； error correction ； parameters identification