多轴激光加工机器人光路几何误差建模方法研究.pdfVIP

3 1 9 V ol31 N o9 2010 9 Ch inese Journa l o f Sc ientif ic Instrum ent Sep. 2010 * 1 1 1 2 彭 艳 , 谢少荣 , 罗 均 , 罗振军 ( 1 200072; 2 1100 16) : , , ( ) , 4 4 , , , , , : ; ; ; ; : TG4 56. 7 TP202+ . 2 : A : 120. 30 R esearch on geom etry error m odeling of laser b eam optics for m ultiaxis laser p rocessing robot 1 1 1 2 Peng Y an , X ie Shaorong , Luo Jun , Luo Zhen jun (1 School of M echatronics Eng ineer ing and Au tom ation, Shanghai University, Shanghai 200072, China; 2 Shenyang nstitute of A utom ation, Ch inese A cademy of S cience, Sheny ang 110016, China) Abstract: Th is paper introduces a theory o f geom etry error m odeling for laser beam optics, w hich is used to establish geom etry error m ode l o f laser beam optics for m ult iax is laser processing robo t. H om ogeneous m atrixes are em ployed to represent the positions of the character istic po ints ( laser source, inciden t po int and the end o f the laser beam ) of the laser beam optics and the positions and gestures o f the laser beam vectors. The ideal and rea l transm ission process o f the laser beam can be expressed as a 4 by 4 hom ogenou sm atrix transform a tion. T ransfer funct ion of light geom etry error that can reflect the in fluence o f each error source on the end error of t