Abstract: A positional polar angle dichotomy search optimization algorithm is proposed for on-line measuring the machining accuracies of planetary carrier and cycloid of precision parts in industrial robot RV reducer. An on-line rapid measuring instrument for the positions of equally distributed circumferential holes is proposed, which combines position measuring meter, coordinate measurement technology and multi-channel inductance collaborative measurement technology. The multi-channel inductive sensor is used to collect the coordinate data of the measured hole of the part, and the optimal position error can be quickly and accurately obtained by the “hole-centered polygon” rotation transformation and the polar angle dichotomy iterative optimization. The measuring time of a single part is less than 10 s, which is suitable for measuring requirements on the production line. The sensor static calibration experiments and nonlinear error compensation were completed by analyzing the error source of measuring meter. Through algorithm simulation experiment, repetitive experiment and precision comparison test, the accuracy of the proposed algorithm is less than 1.4 μm, which has high accuracy; the repeatability of the measuring instrument is less than 1.5 μm, and the reproducibility is less than 1.0 μm; and the comparison error between the measuring instrument and the coordinate measured results is less than 2.6 μm on average, which proves that the position measuring instrument has high stability and reliability. Key

Key words: part, equallydistributedcircumferentialhole, onlinemeasurement, positionaldegree, dichotomy, searchoptimization