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该文以一台5轴混联机床为对象,对运动学标定中的测量轨迹评价和误差补偿进行实验研究。根据矢量闭环方程和一阶摄动法,分别建立了混联机床的运动学模型和误差模型。基于向量非正交度的描述方法,提出了一种用于评价测量轨迹的指标。利用该指标设计两个不同测量轨迹,并分别进行了标定实验研究,验证了指标的有效性。分析和比较了基于运动学正解和逆解的误差补偿方案,并通过标定实验验证了基于运动学逆解的误差补偿方案更能有效提高该机床的精度。“S”形试件切削实验结果显示94%的测点合格,验证了该指标和误差补偿方案的有效性。
In this paper, a 5-axis hybrid machine is taken as an object to conduct an experimental study on the measurement trajectory evaluation and error compensation in kinematic calibration. According to the vector closed loop equation and the first-order perturbation method, the kinematics model and the error model of the hybrid machine tool are respectively established. Based on the description of vector non-orthogonality, an index for evaluating measurement trajectory is proposed. Two different measurement trajectories are designed by using the indicator, and calibration experiments are conducted respectively to verify the validity of the indicator. The error compensation scheme based on kinematic positive solution and inverse solution is analyzed and compared. The calibration experiment verifies that the error compensation scheme based on kinematic inverse solution can effectively improve the accuracy of the machine tool. The test results of “S” shape specimen show that 94% of the measuring points pass the test, which verifies the validity of the index and the error compensation scheme.