DOUBLE BALL-BAR MEASURING SYSTEM AND ERRORS COMPENSATION METHOD THEREOF

專利類型

發明

專利國別 (專利申請國家)

美國

專利申請案號

15/365,898

專利證號

US 10,209,048 B2

專利獲證名稱

DOUBLE BALL-BAR MEASURING SYSTEM AND ERRORS COMPENSATION METHOD THEREOF

專利所屬機關 (申請機關)

國立清華大學

獲證日期

2019/02/19

技術說明

應用於量測之雙球桿系統及其誤差補償方法，設計高精度雙球桿，藉平行連接桿之配置構成具空間結構之雙球桿，有高剛性，抵抗自身重力造成之撓曲變形，雙球桿是用以量測二球心間之距離，本身要有絕對中心距離，以校正板起始化雙球桿中心距離函數，消除幾何誤差及撓曲誤差，以參考雙球桿補償消除雙球桿熱誤差，發明之雙球桿可用於量測機器之運動，得出機器之定位及動態運動誤差，可用以校正機器機構參數，例如機器手臂機構參數。本專利也包括一方法，用以起始化雙球桿之中心距離函數，及熱誤差補償方法，用以消除雙球桿之熱誤差。 Double ball-bar system for errors measurement and errors compensation method thereof. This invention includes design of a high accuracy double ball-bar, which has high stiffness. The double ball-bar can be used to measure center distance between two measuring balls. Its center distance function is initiated by using a calibrator. The center distance function can eliminate geometric errors of the double ball-bar. The thermal errors are compensated by using a reference double ball-bar. The double ball-bar system can be used to measure the motion of a machine and obtain errors resulting from positioning and dynamic motion. It can also be used to calibrate kinematic parameters of a machine, for example the kinematic parameters of a robotic manipulator.

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