Research On The Method Of Dynamic Coordinate Measurement And Precision Testing Of Multi-beam Laser Tracker

With the rapid development of China's aerospace,machinery manufacturing and other high-precision large-scale equipment industry,large parts assembly docking,industrial robot motion performance testing and other coordinate measurement accuracy,measurement range,measurement frequency have higher requirements.In this paper,dynamic coordinate measurement and precision testing methods are studied.The main research contents are as follows:(1)In this paper,a measuring method is proposed,which can trigger the linear motor motion synchronously by multi-axis motion controller,collect the measuring data of grating ruler and laser tracker,and form the coordinate accuracy testing system.The results show that the repeated positioning accuracy of the system is distributed between[-4?m,4?m] at different speeds.(2)Firstly,the dynamic measurement repeatability of laser tracker is tested by using the synchronous trigger dynamic coordinate accuracy testing system.The results show that when three laser trackers are separated by two and two in a straight line,0.5m apart from the target mirror [2.7m,3.4m],The dynamic repeatability of LTA and LTB varies within ±20?m at different speeds,and the general repeatability of LTC varies between [-41?m and 37?m].Secondly,the radial dynamic measurement accuracy and tangential dynamic measurement accuracy of laser tracker are tested.The experimental results show that when the tangential laser tracker is away from the target mirror [2.7m,3.4m],the dynamic coordinate measurement error of the laser tracker is linearly distributed between [-23?m,988?m] with the increase of the velocity.When the radial laser tracker is away from the target mirror [1.5m,3.8m],the coordinate dynamic measurement error of the laser tracker varies with the velocity between [5?m,915?m].(3)A coordinate measuring system based on multilateral method and multi-plane constraint is designed.The simulation results show that when the size of the standard plane is determined,the coordinate measurement accuracy of the system can be effectively improved when the plane layout is in different directions in space.(4)The static coordinate measurement accuracy and dynamic coordinate measurement accuracy of the coordinate measurement system are verified by means of synchronous trigger coordinate precision test system.It shows that the proposed self-calibration algorithm can effectively improve the precision of coordinate measurement under static and low speed conditions.