虚拟关节臂式坐标测量机模型的构建与验证

关节臂式坐标测量机的测量误差受到众多因素的影响，且由物理构件带来的误差无法被消除。为此，笔者旨在构建一种虚拟关节臂式坐标测量机。首先，采用 D-H 矩阵建立其运动学模型，其次，利用 PC-DMIS 测量软件分析测量机数据并对模型的精确性进行检验，最后使用蒙特卡罗法和测量机模型完成仿真测量。通过与实际参数构建的模型、制造商参数构建的模型相对比，可知所构建测量机模型的测量精度能够满足要求。仿真结果表明提出的模型构建与验证方法对坐标测量的应用具有较高的工程价值。

The establishment and testing of a model called virtual articulated arm coordinate measuring machine

The measurement error of articulated arm coordinate measuring machine is affected by various factors, and the error caused by the physical component cannot be eliminated. This paper aims to construct a virtual articulated arm coordinate measuring machine. First, the measuring machine''s kinematics model was built by using D-H (Denavit-Hartenberg) matrix. Then the measuring machine''s data was analyzed by utilizing PC-DMIS measurement software and the accuracy of the model was tested. Finally, the simulation was carried out with Monte Carlo method. By comparing the models constructed with the actual parameters and the manufacturer parameters, it is showed that the measuring accuracy of the established measuring machine''s model can satisfy requirements. The result of simulation indicates that the virtual model and the testing method we proposed are of great engineering value to the application of the coordinate measurement.