| 大型圆柱壳体装配平台测量系统的误差标定方法 |
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| 引用本文： | 黄维邵,吴金波.大型圆柱壳体装配平台测量系统的误差标定方法[J].机械与电子,2021,39(11):40-46. |
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| 作者姓名： | 黄维邵 吴金波 |
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| 作者单位： | 华中科技大学船舶与海洋工程学院,湖北 武汉 430074 |
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| 摘 要： | 为了保证大型圆柱壳体装配平台的制造精度,设计了适用于大型壳体尺寸采集的测量系统,并对其进行了误差标定。首先,根据机构形式和受力情况,分析了系统的误差来源,采用修正 D-H 参数法建立了包含系统几何参数误差和柔性误差的误差模型。其中,柔性误差由立柱和机械臂的弯曲产生。其次,在误差模型建立完成后,提出了测量系统误差参数的计算方法:使用控制变量法进行多组实验,计算得到了立柱的柔度参数和机械臂弯曲偏移角,通过迭代最小二乘法辨识出几何参数误差,经三次样条插值得到了整个工作空间内的立柱柔度参数和机械臂弯曲角,并对系统误差进行了补偿。最后,通过实验验证了误差标定算法的有效性。
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| 关 键 词： | 圆柱壳体装配平台 测量系统 误差标定 参数辨识 补偿 |
Error Calibration of Measuring System for Large Cylindrical Shell Assembly Platform |
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| HUANG Weishao,WU Jinbo.Error Calibration of Measuring System for Large Cylindrical Shell Assembly Platform[J].Machinery & Electronics,2021,39(11):40-46. |
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| Authors: | HUANG Weishao WU Jinbo |
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| Affiliation: | ( School of Naval Architecture and Ocean Engineering , Huazhong University of Science and?Technology, Wuhan 430074 , China ) |
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| Abstract: | In order to ensure the manufacturing accuracy of the assembly platform for cylindrical shell , a measurement system which is used to measure the dimension of a large shell is designed , and its error calibration is carried out.Firstly , The sources of the errors in the system are analyzed according to the mechanism form and stress distributions.The model of system errors which consists of the geometric parameter errors and flexible errors are established by using the modified D-H method.The flexibility error is caused by the bending of column and manipulator arm.Secondly , after the errors model is established , the calculation method of measurement system error parameters is proposed.The control variable method is used to carry out many groups of experiments , the flexibility parameters of the column and the bending angles of the manipulator arm are calculated.The geometric parameter errors are identified by applying the recursive least square algorithm.By using the cubic spline interpolation algorithm , the flexibility parameters of the column and the bending angle of the manipulator in the whole workspace can be deduced , and the system errors is compensated.Finally , the validity of the error calibration algorithm is verified by experiment. |
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| Keywords: | assembly platform for cylindrical shell measurement system error calibration parameter identification compensation |
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