发布时间 : 星期日 文章六自由度柔性机械臂的结构设计毕业(论文)设计论文更新完毕开始阅读fb45eb9b29ea81c758f5f61fb7360b4c2f3f2a5e
分类号： TH721 密 级： 公开 UDC： 62 学校代码： 10356
中国计量学院
本科毕业设计（论文）
六自由度柔性机械臂的结构设计 Structure Design of Six-degree of freedom Flexible Mechanical Arms
申请学位 工学学士 指导教师 学科专业 机械电子工程 培养单位 中国计量学院 答辩委员会主席 评 阅 人
2011 年 6 月
六自由度柔性机械臂的结构设计
摘要：
随着工业的发展，三坐标测量机在现代制造工程领域中的应用越来越广泛。工业生产对于测量的要求也越来越高，传统的正交直角测量机已经不能完全满足测量的需求。柔性机械臂式非正交测量机正是在这种情况下产生的。
本文研究的六自由度柔性机械测量臂即是基于以上产生的。柔性机械臂式测量机拥有结构简单、测量范围大、灵活轻便等优点，并能进行现场测量，可以解决很多以往传统三坐标测量机不能解决的问题。
本文重点对柔性臂测量机的机械结构设计进行了研究。首先介绍了柔性臂式三坐标测量机的基本结构和工作原理，给出了整体的机械设计方案。简单介绍了测量机的测量空间及相关概念。根据要测量臂系统的特点择了臂身材料，并对臂长进行了优化设计。并对薄弱的环节进行了强度和刚度的校核，以确保设计的方案符合要求。给出了包括基座，横纵关节，臂身在内的具体结构的设计。对柔性测量臂系统进行了误差分析，分析了其主要的误差及误差源。并对关节晃动和杆件参数导致的误差建立了误差模型并对其进行了分析。提出了提高精度的一些方法。
最后对本文进行了总结和展望。
关键词： 柔性臂 三坐标测量机 机械结构设计 误差分析
中图分类号：TH721
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Structure Design of Six-degree of freedom Flexible Mechanical Arms
Abstract:
With the development of industrial special, 3-coordinate measuring machine is being used in the modern manufacturing engine more and more widely. The requirements for the measurement of industrial production have become more sophisticated, the traditional right-angle measuring machine is not orthogonal to fully meet the needs of measurement.
Flexible three coordinate measuring machine is generated in this case. In this paper, six degrees of freedom mechanical measuring arm that is generated based on the above. Flexible three coordinate measuring machine has a simple structure, wide measurement range, light and flexible, etc., and can carry out site survey, can solve a lot of traditional coordinate measuring machine cannot solve the problem.
This article focuses on the study of the mechanical structure design of flexible arm measuring machine . First we introduced the flexible arm CMM's basic structure, working principle and the overall mechanical design. Briefly introduces the measuring space and related concepts of CMM. According to characteristics of the measuring arm system selecting the arm body materials, and arm length is optimized. And checking the strength and stiffness of the weakest link, to ensure that the program meets the requirements of the design. Given, including base, vertical and horizontal joints, the arm itself, including the design of the concrete structure. Error analysis on flexible measuring arm systems, analysis of its main source of errors and error. Establishing joint bars with shaking error and parameter error model and making a preliminary analysis. Proposed some methods to improve the accuracy of the measuring machine.
Finally, it's the summarizes and prospects of this paper.
Keyword: flexible arm, coordinate measuring machine, structure design, error analysis
Classification: TH721
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目 次
摘要： ........................................................................................................................................ I Abstract: .................................................................................................................................... II 目 次 .................................................................................................................................... III 1引言 ........................................................................................................................................ 1 1.1选题的背景与意义 ............................................................................................................. 1 1.2 国内外研究现状 ................................................................................................................ 2
1.2.1 国外概况 ................................................................................................................. 2 1.2.2 国内概况 ................................................................................................................. 2 1.3 柔性臂测量机未来的发展趋势 .................................................................................... 3 1.3.1普及高速测量 .......................................................................................................... 3 1.3.2 新材料和新技术的应用 ......................................................................................... 3 1.3.3 测量机测头的发展 ................................................................................................. 3 1.3.4 控制系统的改进 ..................................................................................................... 3 1.3.5 软件技术的革新 ..................................................................................................... 4 1.4 研究内容与拟解决主要问题 ........................................................................................ 4 1.4.1 课题研究内容 ......................................................................................................... 4 1.4.2 拟解决主要问题 ..................................................................................................... 4 1.5 本章小结 ........................................................................................................................ 5 2 六自由度柔性臂的设计原理 ............................................................................................... 5 2.1 柔性坐标测量机的基本结构 ........................................................................................ 5 2.2 柔性坐标测量机的测量原理 ........................................................................................ 6 2.3 柔性坐标测量机总体方案 ............................................................................................ 8 2.3.1 测量空间 ................................................................................................................. 8 2.3.2 关节和臂长设计 ..................................................................................................... 9 2.3.3臂身材料的选择 .................................................................................................... 11 2.3.4 杆长的优化设计 ................................................................................................... 11 2.3.5 空心轴的强度校核与刚度校核 ........................................................................... 13
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