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对基于三坐标定位器的大部件数字化柔性装配系统,建立系统运动控制所需的装配坐标系、动坐标系和POGO柱坐标系,并在此基础上分析了其正反解算法。根据大部件对接的高精度要求,用全微分的方法建立各结构误差与对接部件位姿误差之间的误差正解模型,提出了一种基于工作空间的位姿补偿方法。最后,建立带有误差源的正解模型,以实例计算验证了误差正解模型和补偿方法的正确性。
For digital flexible assembly system of large parts based on CMM, an assembly coordinate system, a coordinate system and a POGO cylindrical coordinate system needed for system motion control are established. Based on the analysis, the algorithm is analyzed. According to the high precision requirements of large parts docking, a positive solution model of error between each structural error and the position and orientation errors of docking components is established by using the method of total differential. A position and pose compensation method based on workspace is proposed. Finally, a positive solution model with error sources is established, and the correctness of the error positive solution model and the compensation method are verified by examples.