基于状态监测的关节式坐标测量机全误差分解及标定技术研究

Total error analysis technique was an important means to explore the root cause of instrument error. In industrial production, the articulated arm coordinate measuring machine (AACMM) has an important application prospect , but its low measurement accuracy affects the applicability. The error source of the instrument different gesture will be analyzed one by one and quantified in the project, especially the derivative error of elastic deformation will be studied deeply, the aim of this project was the development of a sensor network to monitor random errors in real-time .Influence factors involve the posture of instrument, operation load and force, environmental and local instrumental temperatures etc. The project for the corrections of Coordinate measuring machine swaying, angles of manipulation, precision of rotation, arm and head deformations will be developed for real-time application. And the total error calibration device and calibration method were designed for the AACMM. Firstly, the theory and simulation analysis of the error source of AACMM were carried out. Secondly, according to the simulation results, the sensor was arranged reasonably, and the nonlinear coupling model of the error based on the sensor monitoring data was established. Then, the inter-relationships and inter-dependencies between errors transfer coefficient of each key of error were analyzed through a set of transfer coefficients under the error propagation theory, the analytical model of the instrument's total error was established. Finally, the monitoring circuit was designed and the sensor monitoring network was constructed. The prototype was assembled and the instrument was calibrated through the verification result. And lay the theoretical and methodological foundation for the industrial application of AACMM.

研究全误差分析技术是探索仪器误差产生根源的重要手段。关节式坐标测量机在工业生产中有重要的应用前景，但其测量精度偏低影响了适用性。本项目将仪器不同姿态下的误差源进行逐个分析、量化，尤其对仪器关节弹性变形的衍生误差进行深入研究，构建传感器网络实时监测仪器姿态、操作力、环境温度等随机误差影响因素，对坐标测量机的关节晃动、测角精度、关节臂变形、测头变形等误差关键项进行实时修正，并为关节式坐标测量机设计了全误差标定装置及标定方法。首先进行关节式坐标测量机误差源的理论与仿真分析；其次，根据仿真分析结果合理布置传感器，建立基于传感器监测数据的误差项非线性耦合模型；之后，基于误差传递理论，分析各误差关键项的相互耦合关系和误差传递系数，建立仪器全误差关系的解析模型；最后，设计监测电路，构建传感器监测网络，根据验证实验结果装配样机并进行仪器标定，为关节式坐标测量机的工业现场应用奠定理论及方法基础。

研究全误差分析技术是探索仪器误差产生根源的重要手段。关节式坐标测量机在工业生产中有重要的应用前景，但其测量精度偏低影响了适用性。本项目以关节式坐标测量机为研究对象，借鉴现有仪器的使用经验，结合仪器结构的弱刚性特点，进行了关节式坐标测量机的全误差分解，为仪器多参数模型的建立打下基础；研究带有内部扭簧仪器与不带有内部扭簧的关节式坐标测量机在不同姿态时的受力及测量误差的演变关系，从而建立仪器姿态与受力变形误差的关系；根据关节式坐标测量机的受力特点及相关误差分析的结论，优化了关节臂的结构设计；研究了误差关键项演变规律并设计完成了相关实验，并建立了关节式坐标测量机的多参数数学模型，在该模型中加入了测量机在不同姿态时的自重受力对标定结果的影响模型；完成了关节式坐标测量机的标定并对比了普通模型与多参数数学模型的标定效果，说明了仪器多参数模型的有效性；完成了关节式坐标测量机扫描测头的相关电路设计、调试，关节臂与扫描测头的联合标定及测试工作。本项目的工作为关节式坐标测量机的全误差分解及标定技术奠定坚实的理论和方法基础。项目共发表学术期刊论文14篇，会议论文2篇，申请发明专利6项，实用新型专利1项，软件著作权2项。以本项目相关成果为核心内容，获得江西省科技进步二等奖一项，培养硕士研究生5人。