CAJ | 학술논문

设计了一种新型仿人手臂结构的关节臂式坐标测量机,建立了测量机的坐标系统,在此基础上建立了测量机的四参数D-H运动学模型.在Matlab软件中利用Robotics Toolbox建立了测量机的仿真模型,并对测量机进行了图形仿真,仿真结果验证了四参数D-H运动学模型的正确性.利用Visual C++编制出数据采集软件,实现了从测量机关节空间到工作空间的映射.通过对关节臂式坐标测量机的误差分析,提出了提高测量机精度所应采取的措施,为进一步进行测量机的参数标定和误差补偿提供了理论基础.
설계료일충신형방인수비결구적관절비식좌표측량궤,건립료측량궤적좌표계통,재차기출상건립료측량궤적사삼수D-H운동학모형.재Matlab연건중이용Robotics Toolbox건립료측량궤적방진모형,병대측량궤진행료도형방진,방진결과험증료사삼수D-H운동학모형적정학성.이용Visual C++편제출수거채집연건,실현료종측량궤관절공간도공작공간적영사.통과대관절비식좌표측량궤적오차분석,제출료제고측량궤정도소응채취적조시,위진일보진행측량궤적삼수표정화오차보상제공료이론기출.
A new humanoid arm structure coordinate measuring machine (CMM)-an articulated arm CMM is designed. The four-parameter D-H kinematics model of the articulated arm CMM is established according to the built coordinate system. The simulation model of the articulated arm CMM is built using Robotics Toolbox in the software of Matlab to verify the kinematics model. The data acquisition software programmed by Visual C++ finished the mapping from joints space to operation space. Through the error analysis some methods to improve measurement precision are proposed which provide the theoretical basis to calibrate the parameters and compensate the structural errors.