多关节坐标测量机结构参数的校准

多关节坐标测量机末端测头的位置准确度主要受各杆件结构参数误差的影响，为提高多关节坐标测量机的测量准确度，必须对各杆件的结构参数进行校准。首先应用ＤＨ 分析方法，建立了多关节坐标测量机的运动学模型，然后提出了一种简单、快速的单点 多姿态校准方法，运用全微分、最小二乘法和迭代算法等数学方法，建立了校准模型。实验表明，该校准方法适合于多关节坐标测量机结构参数真值的获得，并可极大地提高测量机的位置准确度。

Calibration for structure parameters of multi joint CMM

The main factor that affect measuring accuracy of multi joint CMM is structure parameter errors of links. In order to improve it's accuracy, it is necessary to calibrate the structure parameters of links. The kinematics model of multi joint CMM is constructed by using D H method. A simple and rapid single point multi posture calibration method is proposed. This calibration model is founded by applying total differential, least square and iterative algorithm. It is demonstrated by experiment that this calibration is suitable for obtaining true structure parameters of links and the position accuracy of multi joint CMM can be improved greatly.