Research On Error Compensation Of Joint Module And System Control Of Self-driven AACMM

Today’s industrial manufacturing occasions gradually tend to the direction of intelligent development,and the development bottlenecks of intelligent manufacturing include intelligent measurement.In order to make a breakthrough in intelligent measurement,it is urgent to develop new intelligent measurement equipment.In the traditional measurement field,the high-precision coordinate measuring machine(CMM)is difficult to apply in many complex situations,and the portable articulated arm CMM(AACMM)can be used as an alternative.However,the measurement process of AACMM depends on the manual operation of the measuring personnel,and the dragging path and measurement attitude are random,which easily leads to artificial errors,and cannot meet the demand of online automatic measurement.Therefore,our subject proposes a new type of self-driven AACMM.This paper studies the angle error compensation and measurement and control technology of self-driven AACMM,the main contents are as follows:1.Kinematics modeling of self-driven AACMM.The kinematic model of self-driven AACMM was established by standard DH model and the correctness of the model was verified.In MATLAB,the kinematic model of self-driven AACMM was established by using the robot toolkit and DH parameters.2.Measurement and control system design of self-driven AACMM.Around the two main functions of motion control and angle measurement of self-driven AACMM,the hardware system was designed and built.The software of measurement and control system was programmed by Lab VIEW to realize the automatic measurement of selfdriven AACMM.3.Angle error modeling and compensation of joint module of self-driven AACMM.The angle error models of the joint module were established based on harmonic analysis method.The error calibration experiments of joint module were designed by using the autocollimator and 36-sided prism.The necessity of the weighted correction was illustrated by the load experiments,and the angle error model of each joint module was obtained.4.Trajectory planning and simulation of self-driven AACMM.The trajectory planning simulations in joint space of self-driven AACMM were carried out by using various algorithms to study the influence of different motion control methods on the measurement.The feasibility of path planning was verified by the simulation of spherical measurement in MATLAB.5.The measurement experiments of self-driven AACMM.The experiments of measuring standard ball were designed to verify the effectiveness of the angle error model of joint module and the influence of different trajectory planning on the measurement accuracy.The experiments of measuring standard gauge block were designed to verify the influence of different end velocity on the measuring accuracy and the repeatability of self-driven AACMM.