Kinematic Modeling and Analysis of Articulated Arm Coordinate Measuring Machines

Guan Bin Gao; Wen Wang; Hong Qiang Li; Jian Jun Zhou

doi:10.4028/www.scientific.net/AMM.241-244.494

Paper Titles

Theoretical Analysis for Relations between Nonlinearity Errors and PBS in Heterodyne Interferometer
p.474

Real-Time and Robust Stereo Visual Navigation Localization Algorithm Based on ORB
p.478

A Wood Color Classifier Based on CAV and SVM
p.483

Drift Error Analysis of Atomic Spin Gyroscope
p.488

Kinematic Modeling and Analysis of Articulated Arm Coordinate Measuring Machines
p.494

Pedestrian Tracking with HOG and Color Histogram Features
p.498

Algorithm Based on Lagrange Interpolation and ZoomFFT for the Power System Interharmonics Detection
p.505

A High-Frequency Inverter Based on Double Closed-Loop Control
p.509

Three Dimensional Manipulation of Cells Using Holographic Optical Tweezers
p.513

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 241-244Kinematic Modeling and Analysis of Articulated Arm...

Kinematic Modeling and Analysis of Articulated Arm Coordinate Measuring Machines

Abstract:

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.