基于蒙特卡洛法的关节臂坐标测量机工作空间分析

Workspace Analysis of Articulated Arm Coordinate Measuring Machine Based on Monte Carlo Method

摘要:

传统的求解关节臂式坐标测量机工作空间的方法需要借助繁琐的数学公式、计算量大,针对这一问题选用蒙特卡洛法对工作空间进行分析；首先运用D-H方法建立关节臂式坐标测量机的数学模型得出运动学方程;然后采用蒙特卡洛法分析该测量机的工作空间,得出工作空间点云图；最后,采用局部象限分布的方法对关节臂式坐标测量机工作空间点云图的边界点进行提取;仿真实验结果表明用蒙特卡洛法对工作空间分析更简单易于实现,采用基于局部象限分布法提取到的边界点轮廓也更准确避免了虚假边界点的提取。

Abstract:

The traditional method to solve the problem of working space of articulated arm coordinate measuring machine needs applying complex mathematical formulas with large calculating quantities. To solve this problem, the Monte Carlo method was used to analyze the working space.Firstly, the D-H method was used to establish the mathematical model of coordinate measuring in order to obtain the Kinematics equations.Then, the Monte Carlo method was used to analyze the working space of the measuring machine in order to draw the cloud picture of the work space.Finally,we could extract the boundary points of the workingspace of the articulated arm coordinate measuring machine by using the method of the local quadrant distribution. The results of simulating experiments show that the Monte Carlo method is more simple and easier to operate on the analysis of space. The boundary points extracted by using the method of local quadrant distribution are more accurate avoiding the extraction of the false boundary points at the same time.