Calibration method for circular grating eccentricity parameters of a flexible arm coordinate measuring machine

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, and in particular relates 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 six-degree-of-freedom non-Cartesian coordinate measuring system. Its structure is similar to that of industrial manipulators. Each rotary joint is equipped with a round grating sensor to record angle data. It is a large part in the industrial field. It has been widely used in the assembly of important parts in manufacturing and large-scale equipment, and has the advantages of wide measurement range, strong on-site adaptability, flexible measurement, and convenient carrying. The tandem link 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 to...

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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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