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《Journal of Harbin Institute of Technology》 1999-02
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Modeling and Error Analysis for Human-simulation Multi-joint Coordinate Measuring Machine

Ye Dong; Che Rensheng (Dept. of Instrumentation,Measurement & Control engineering, HIT)  
Human-simulation mulh-joint coordinae measuring machine (CMM) is a new type of non-Cartesian CMM. Simulating the structure of human's waist, shoulder, and and wrist joint, it makes up of arms, joints and probe in series. Its advantages include simple machinery, small volume, large measuring range and portable use.By using homogenous coordinate transformation principle and Denavit-Hartenberg analysis method, a mathematical model for multi-joint coordinate measuring machine, of which the movement of the probe center is relative to ma-chine reference fiame, is constructed . Furthermore, error sources are deeply analyzed, and it is found that structure errors produced in the machining and assembly are maximal error resources .Finally examples, based on the algorithm simulation and actual measuring experiment, are presented to demonstrate the feasibility of this model . By correcting the structure errors, accuracy is largely improved.
【CateGory Index】: TH721
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