Research On Articulated Arm Stampings Measuring Machines Structure Parameter Calibration Simulation

At present, traditional measurement brings low detecting efficiency, heavy man-made factors and lacking of on-line quality feedback to the automotive stampings detecting, but the articulated arm stampings optical measuring machine could settle these matters effectively. In the thesis, based on the articulated arm stampings measuring machines, the establishment of kinematic model, kinematic numerical simulation, error analysis and calibration is studied in depth. As a result of the error calibration, the articulated arm stampings measuring machines measure precision has been well improved and meets the design requirements, so the stampings measure machine could provide a efficient on-line detection for the automotive stampings.The completed researches included in this paper are follows:Firstly.This paper, the traditional D-H method to build kinematic model of the measuring machine. First discusses the theory of industrial robot kinematics, and then according to the actual structure of the measuring machine, to establish measuring machine kinematics model and forward kinematics and reverse kinematics solution.Secondly.Matlab software. Establish measuring machine kinematics model simulation. First establish a mathematical model of the measuring machine, through the preparation of the corresponding program simulation, the kinematic model of the measuring machine to verify that the kinematic model is correct, and come to the work space of the measuring machine.Thirdly.Establish measurement error model equation. First detailed analysis of the structural characteristics of the robot arm stampings measuring machine, the error term that affect the measuring machine accuracy, then its exhaustive analysis using Matlab software simulation, and indicate the size of the error parameters, after measuring machine structural optimization and provide a theoretical basis.Fourthly. A calibration method is proposed for the measure machine to meet the design accuracy. Combining with the characteristics of articulated arm stampings measuring machines, the paper puts forward a calibration method based on target, which has a self-calibration function, and could lead to about a higher stampings detection accuracy than manual calibration method. A calibration simulation is arranged to verifies rationality of the calibration method, the result shows that the detection accuracy of calibrated measure machine accords with previous design requirements.