【正文】 machine is being used in the modern manufacturing engine more and more widely. The requirements for the measurement of industrial production have bee more sophisticated, the traditional rightangle 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 CMM39。s the summarizes and prospects of this paper. Keyword: flexible arm, coordinate measuring machine, structure design, error analysis Classification: TH721 III 目 次 摘要： .............................................................................................................................. I Abstract: .......................................................................................................................... II 目 次 .......................................................................................................................... III 1 引言 ............................................................................................................................. 1 選題的背景與意義 ..................................................................................................... 1 國內(nèi)外研究現(xiàn)狀 ....................................................................................................... 2 國外概況 ........................................................................................................ 2 國內(nèi)概況 ........................................................................................................ 2 柔性臂測量機未來的發(fā)展趨勢 .............................................................................. 3 普及高速測量 .................................................................................................. 3 新材料和新技術的應用 .................................................................................. 3 測量機測頭的發(fā)展 .......................................................................................... 3 控制系統(tǒng)的改進 ............................................................................................. 3 軟件技術的革新 ............................................................................................. 4 研究內(nèi)容與擬解決主要問題 .................................................................................. 4 課題研究內(nèi)容 ................................................................................................. 4 擬解決主要問題 ............................................................................................. 4 本章小結(jié) ............................................................................................................... 5 2 六自由度柔性臂的設計原理 ........................................................................................ 5 柔性坐標測量機的基本結(jié)構(gòu) .................................................................................. 5 柔性坐標測量機的測量原理 .................................................................................. 6 柔性坐標測量機總體方案 ..................................................................................... 8 測量空間 ........................................................................................................ 8 關節(jié)和臂長設計 ............................................................................................. 9 臂身材料的選擇 ............................................................................................ 11 桿長的優(yōu)化設計 ........................................................................................... 11 空心軸的強度校核與剛度校核 ..................................................................... 13 IV 本章小結(jié) ............................................................................................................. 14 3 六自由度柔性臂的結(jié)構(gòu)設計 ...................................................................................... 14 基座部分的結(jié)構(gòu)設計 ........................................................................................... 14 橫關節(jié)部分的結(jié)構(gòu)設計 ....................................................................................... 15 縱關節(jié)部分的結(jié)構(gòu)設計 ....................................................................................... 16 六自由度柔性臂結(jié)構(gòu)裝備總圖 ............................................................................ 16 本章小結(jié) .............................................................................................................. 18 4 柔性臂坐標測量機的誤差分析與精度分析 ................................................................ 18 誤差分析 ............................................................................................................. 18 柔性臂坐標測量機 系統(tǒng)主要誤差 .................................................................. 18 柔性臂坐標測量機 系統(tǒng)主要誤差源 .............................................................. 18 誤差的補償 ......................................................................................................... 19 關節(jié)晃動導致的誤差 ..................................................................................... 19 桿件參數(shù)導致的誤差 ..................................................................................... 21 結(jié)構(gòu)的精度分析 ................................................................................................... 22 本章小結(jié) ............................................................................................................. 22 5 總結(jié)與展望 ................................................................................................................ 23 總結(jié) ...................