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Circular grating eccentricity parameter calibration method of flexible arm coordinate measuring machine

A coordinate measuring machine and parameter calibration technology, applied in the field of precision measurement, can solve problems such as difficult on-site operation, and achieve the effects of convenient operation, fast convergence speed and high calibration efficiency

Active Publication Date: 2019-10-25
ANHUI UNIVERSITY OF TECHNOLOGY
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Problems solved by technology

[0004] From the above analysis, it can be seen that most of the circular grating sensor compensation needs to rely on a complex calibration system. The rotating joint of the measuring machine is disassembled to obtain data through external equipment, which is not easy for on-site operation.

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  • Circular grating eccentricity parameter calibration method of flexible arm coordinate measuring machine
  • Circular grating eccentricity parameter calibration method of flexible arm coordinate measuring machine
  • Circular grating eccentricity parameter calibration method of flexible arm coordinate measuring machine

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Embodiment Construction

[0060] The present invention will be further described below in conjunction with embodiment and accompanying drawing.

[0061] The structure of the flexible arm coordinate measuring machine for the research object targeted by the circular grating eccentric parameter calibration method of the flexible arm coordinate measuring machine of the present invention is as follows figure 1 As shown, the flexible arm coordinate measuring machine is composed of a base 1, a fixed arm 2, a measuring arm 3, a rotating joint 4 and a measuring head 5. The flexible arm coordinate measuring machine has 6 degrees of freedom, of which 6 degrees of freedom Corresponding to 6 rotary joints, each joint is equipped with a circular grating angle sensor. Since the sensor has eccentricity errors due to processing, assembly and other reasons during the manufacturing process, each circular grating sensor needs to be calibrated when used. Adopt method of the present invention, comprise the following steps:...

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Abstract

The invention discloses a circular grating eccentricity parameter calibration method of a flexible arm coordinate measuring machine and belongs to the precision measuring method field. The method comprises the following steps of firstly, based on a D-H model, establishing a mathematical model of the flexible arm coordinate measuring machine; then, based on a wolf group algorithm WPA and a least square method LM, designing a fusion optimization algorithm and a wolf group-least square fusion optimization algorithm WPA-LM; and finally, using the designed wolf group-least square fusion optimization algorithm WPA-LM to calibrate an eccentricity parameter of a circular grating. The fusion optimization algorithm combines advantages of a high wolf group algorithm WPA global search ability and a fast least square method LM convergence speed so that the eccentricity parameter of the circular grating can be optimized efficiently and accurately, and the method is used for parameter calibration. Calibration accuracy is high, efficiency is high, and external equipment is not needed. Cost is low, operation is simple, and calibration and correction on site can be conveniently realized.

Description

technical field [0001] The invention belongs to the field of precision measurement methods, in particular to a method for calibrating circular grating eccentricity parameters of a flexible arm coordinate measuring machine. Background technique [0002] The flexible arm coordinate measuring machine is a non-Cartesian coordinate measuring system with six degrees of freedom. Its structure is similar to that of industrial manipulators. A circular grating sensor is installed in each rotary joint to record angle data. Large parts in industrial sites It has been widely used in the manufacture and assembly of important components in large devices, and has the advantages of wide measurement range, strong on-site adaptability, flexible measurement, and easy portability. The series connecting rod structure of the measuring machine makes the error have the characteristics of accumulation and amplification. Therefore, it is very necessary to compensate the error of the circular grating t...

Claims

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Application Information

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IPC IPC(8): G01B11/00
CPCG01B11/005
Inventor 冯旭刚章家岩朱嘉齐
Owner ANHUI UNIVERSITY OF TECHNOLOGY
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