scholarly journals A New Kinematic Model of Portable Articulated Coordinate Measuring Machine

2016 ◽  
Vol 6 (7) ◽  
pp. 181 ◽  
Author(s):  
Hui-Ning Zhao ◽  
Lian-Dong Yu ◽  
Hua-Kun Jia ◽  
Wei-Shi Li ◽  
Jing-Qi Sun
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Measuring Machine

A new approach of kinematic geometry for error identification and compensation of industrial robots

2018 ◽  
Vol 233 (5) ◽  
pp. 1783-1794
Author(s):  
Zhi Wang ◽  
Huimin Dong ◽  
Shaoping Bai ◽  
Delun Wang
Keyword(s):  
Curve Fitting ◽  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Reference Points ◽  
Industrial Robots ◽  
Kinematic Calibration ◽  
Kinematic Pair ◽  
Good Efficiency ◽  
New Approach ◽  
Measuring Machine

A new approach for kinematic calibration of industrial robots, including the kinematic pair errors and the link errors, is developed in this paper based on the kinematic invariants. In most methods of kinematic calibration, the geometric errors of the robots are considered in forms of variations of the link parameters, while the kinematic pairs are assumed ideal. Due to the errors of mating surfaces in kinematic pairs, the fixed and moving axes of revolute pairs, or the fixed and moving guidelines of prismatic pairs, are separated, which can be concisely identified as the kinematic pair errors and the link errors by means of the kinematic pair errors model, including the self-adaption fitting of a ruled surface, or the spherical image curve fitting and the striction curve fitting. The approach is applied to the kinematic calibration of a SCARA robot. The discrete motion of each kinematic pair in the robot is completely measured by a coordinate measuring machine. Based on the global kinematic properties of the measured motion, the fixed and moving axes, or guidelines, of the kinematic pairs are identified, which are invariants unrelated to the positions of the measured reference points. The kinematic model of the robot is set up using the identified axes and guidelines. The results validate the approach developed has good efficiency and accuracy.

Error Modeling and Analysis of Articulated Arm Coordinate Measuring Machines

2013 ◽  
Vol 798-799 ◽  
pp. 464-467
Author(s):  
Jian Lu ◽  
Guan Bin Gao ◽  
Hui Ping Yang
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Calibration Method ◽  
Error Model ◽  
Error Modeling ◽  
Modeling And Analysis ◽  
Low Weight ◽  
New Type ◽  
Measuring Machine ◽  
Value Decomposition

The Articulated Arm Coordinate Measuring Machine (AACMM) is a new type of non-orthogonal system precision instrument with the advantages of large measuring range, small volume, low weight and portability. To improve the measurement accuracy of AACMMs, an error analysis and calibration method for AACMMs is proposed. The kinematic model of the AACMM was established with D-H model, and then the error model of the AACMM was established on the basis of kinematic model with total differential transforming method and the singular value decomposition of Jacobian matrix and the decomposition of orthogonal matrix elementary row transform. Finally, the error model was validated by position error residual calculation. The error model provides a theoretical foundation for calibration and compensation of the AACMM.

Kinematic Modeling and Error Analysis for a 3DOF Parallel-Link Coordinate Measuring Machine

2006 ◽  
Vol 532-533 ◽  
pp. 313-316 ◽  
Author(s):  
De Jun Liu ◽  
Hua Qing Liang ◽  
Hong Dong Yin ◽  
Bu Ren Qian
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Inverse Kinematic ◽  
Differential Method ◽  
Error Model ◽  
Structural Parameter ◽  
Kinematic Modeling ◽  
Position Errors ◽  
Measuring Machine ◽  
Parallel Link

First, the forward kinematic model, the inverse kinematic model and the error model of a kind of coordinate measuring machine (CMM) using 3-DOF parallel-link mechanism are established based on the spatial mechanics theory and the total differential method, and the error model is verified by computer simulation. Then, the influence of structural parameter errors on probe position errors is systematically considered. This research provides an essential theoretical basis for increasing the measuring accuracy of the parallel-link coordinate measuring machine. It is of particular importance to develop the prototype of the new measuring equipment.

DIMENSIONAL INSPECTION OF TRANSLATING CAMS BY CNC COORDINATE MEASURING MACHINE

2012 ◽  
Vol 36 (3) ◽  
pp. 259-270
Author(s):  
Jung-Fa Hsieh
Keyword(s):  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Least Square ◽  
Normal Vector ◽  
Transformation Theory ◽  
Fitting Method ◽  
Cam Profile ◽  
Measuring Machine ◽  
Normal Vectors ◽  
Nc Data

In this paper, a simple and analytical method is proposed for accomplishing the inspection procedure. In the proposed approach, a kinematic model of the cam profile is derived using homogenous coordinate transformation theory. The normal vectors and principal curvature of the designed translating cam are then derived from the analytical expression for the cam profile. Based on the coordinates and normal vector of each specified point on the cam profile, the NC data required to move the CMM inspection probe to the surface of the cam are then obtained. A least-square fitting method is proposed to minimize the inspection error caused by a misalignment of the actual evaluation frame relative to the ideal frame.

Study on the Measuring Space of Flexible Arm Coordinate Measuring Machines

2012 ◽  
Vol 500 ◽  
pp. 283-286
Author(s):  
Guan Bin Gao ◽  
Wen Wang
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
New Method ◽  
Joint Angles ◽  
Flexible Arm ◽  
Important Measure ◽  
Measuring Machine ◽  
Measuring Space

The measuring space is the set of positions a flexible arm coordinate measuring machine (FACMM) can reach, and it is an important measure for the evaluation of a FACMM. To study the measuring space of FACMMs the kinematic model was established. Furthermore, a new method based on Monte Carlo method to calculate the measuring space of FACMMs was proposed. The method generates the data of joint angles with Monte Carlo method, which is used to calculate the coordinates of the FACMM’s probe through the kinematic model. These coordinates make up the measuring space. The results of the analysis on the measuring space show that the measuring space of FACMMs is not a sphere usually considered as but an ellipsoid, and there is lack of flexibility near the border of the measuring space.

A Kinematic Model for Parallel-Joint Coordinate Measuring Machine

2013 ◽  
Vol 5 (4) ◽  
Author(s):  
Jie Li ◽  
Lian-Dong Yu ◽  
Jing-Qi Sun ◽  
Hao-Jie Xia
Keyword(s):  
Mathematical Modeling ◽  
Data Processing ◽  
Newton Method ◽  
Measurement Accuracy ◽  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Experimental Results ◽  
Kinematic Modeling ◽  
Kinematic Parameters ◽  
Measuring Machine

The typical nonorthogonal coordinate measuring machine is the portable coordinate measuring machine (PCMM), which is widely applied in manufacturing. In order to improve the measurement accuracy of PCMM, structural designing, data processing, mathematical modeling, and identification of parameters of PCMM, which are essential for the measurement accuracy, should be taken into account during the machine development. In this paper, a kind of PCMM used for detecting the crucial dimension of automobile chassis has been studied and calibrated. The Denavit–Hartenberg (D–H) kinematic modeling method has often been used for modeling traditional robot, but the D–H error representation is ill-conditioned when it is applied to represent parallel joints. A modified four-parameter model combined with D–H model is put forward for this PCMM. Based on the kinematic model, Gauss–Newton method is applied for calibrating the kinematic parameters. The experimental results indicate the improvement of measuring accuracy and the effectiveness of the PCMM based on the proposed method.

Kinematic Modeling and Analysis of Articulated Arm Coordinate Measuring Machines

2012 ◽  
Vol 241-244 ◽  
pp. 494-497
Author(s):  
Guan Bin Gao ◽  
Wen Wang ◽  
Hong Qiang Li ◽  
Jian Jun Zhou
Keyword(s):  
Structural Characteristics ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Coordinate Measuring Machine ◽  
Measurement Range ◽  
Kinematic Modeling ◽  
Modeling And Analysis ◽  
Graphical Simulation ◽  
Measuring Machine ◽  
Numerical Computing

The articulated arm coordinate measuring machine (AACMM) is a new type coordinate measuring machine (CMM) base on the linkage structure with the characteristics of small size, light weight, large measurement range and flexible movement. The kinematic modeling methods of six degree of freedom (6-DOF) AACMMs are studied in this paper. By analyzing the structural characteristics of AACMMs the kinematic model of a 6-DOF AACMM with DH method was established. From the kinematic model the coordinate systems and structural parameters of the AACMM are obtained. Then the homogeneous transformation matrixes from the probe to the base of the AACMM are derived. Finally, methods of numerical computing and graphical simulation are used in verifying the kinematic model. The kinematic model provides a basis for measurement, calibration and error compensation of the AACMM.

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