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设计了一种新型三自由度虚轴坐标测量机机构,给出了其运动学正解模型,依据全微分理论,导出测头位置误差与结构参数误差及3个并联驱动杆长度误差之间的相互关系,从而建立起这种新型并联机构的误差模型;然后利用计算机仿真方法,验证了误差模型的准确性,分析了3个并联驱动杆长度变化以及结构参数误差变化对测头位置误差的影响,为该虚轴坐标测量机机构的加工制造及其误差补偿奠定了理论基础,该并联机构还可用于运动模拟器、并联机床等其它并联运动装备。
A new type of three-DOF virtual axis coordinate measuring machine mechanism is designed and its kinematic positive solution model is given. Based on the total differential theory, the position error of the probe and the error of the structure parameters and the error of the length of the three parallel driving rods are derived Then the error model of the new parallel mechanism is established. Then the accuracy of the error model is verified by the computer simulation method. The influence of the length variation of the three parallel driving rods and the change of the structural parameter error on the position error of the touch probe is analyzed. It laid the theoretical foundation for machining and error compensation of the virtual axis CMM mechanism. The parallel mechanism can also be used in other parallel motion equipment such as motion simulator and parallel machine tool.