椭圆螺旋弯管的产品评价
Product Evaluation In Elliptical Helical Pipe Bending
摘要：
本研究提出一种以六自由度并联机器人为弯管机之椭圆曲面螺旋弯管加工精度评估计算方法。目标最终产品是用于按订单生产的福利产品制造的可穿戴金属肌肉支撑器。本文提出了一种产品测试模型，主要是纠正现有的最小二乘椭圆拟合的表面方向估计误差，其次是弧长和中心角评估。这种加工后建模需要在进行精度评估之前将反向旋转和平移组合到特定位置，即与加工前产品建模进行反向比较。这个特定的位置不仅允许我们计算表面方向，而且还可以计算作为绕指定轴的旋转角的过度表面扭曲的量，即表面扭曲的量化。首先，我们对三种椭圆拟合方法进行了实验，即两种基于Bookstein约束和Trace约束的最小二乘拟合方法和一种基于Gauss-Newton算法的非线性最小二乘拟合方法。从拟合结果来看，使用Trace约束更可靠，并设计了一种用于地表扭转观测的校正滤波器。最后，我们采用二维整体最小二乘直线拟合方法与整流滤波器的表面方向检测。
英文摘要：
This research proposes a computation approach to address the evaluation of end product machining accuracy in elliptical surfaced helical pipe bending using 6dof parallel manipulator as a pipe bender. The target end product is wearable metal muscle supporters used in build-to-order welfare product manufacturing. This paper proposes a product testing model that mainly corrects the surface direction estimation errors of existing least squares ellipse fittings, followed by arc length and central angle evaluations. This post-machining modelling requires combination of reverse rotations and translations to a specific location before accuracy evaluation takes place, i.e. the reverse comparing to pre-machining product modelling. This specific location not only allows us to compute surface direction but also the amount of excessive surface twisting as a rotation angle about a specified axis, i.e. quantification of surface torsion. At first we experimented three ellipse fitting methods such as, two least-squares fitting methods with Bookstein constraint and Trace constraint, and one non- linear least squares method using Gauss-Newton algorithm. From fitting results, we found that using Trace constraint is more reliable and designed a correction filter for surface torsion observation. Finally we apply 2D total least squares line fitting method with a rectification filter for surface direction detection.
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