Kinematic modeling and simulation of articulated arm coordinate measuring machines based on MCPC method

Jian Lu; Guanbin Gao

doi:10.1117/12.2035857

10 October 2013 Kinematic modeling and simulation of articulated arm coordinate measuring machines based on MCPC method

Jian Lu, Guanbin Gao

Proceedings Volume 8916, Sixth International Symposium on Precision Mechanical Measurements; 89163L (2013) https://doi.org/10.1117/12.2035857
Event: Sixth International Symposium on Precision Mechanical Measurements, 2013, Guiyang, China

Abstract

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. The kinematic models of AACMM are commonly established with the Denavit-Hartenberg (D-H) method. However, the D-H model exhibits the singularity in consecutive parallel joint axes due to it is neither complete nor parametrically continuous. The kinematic model of the AACMM established with MCPC (modified complete and parametrically continuous) method overcomes the disadvantages of incomplete and parametrically discontinuous of the D-H method. The transformation matrixes are obtained based on the MCPC method, which realizes the mapping form the joint space to measuring space of the AACMM. Numerical calculation and graphic simulation are used to verify the kinematic model of the AACMM. The result shows that the kinematic model is correct. The kinematic model of the AACMM based on MCPC method can provide a theoretical basis for measurement and calibration, and it also introduces a new kinematic modeling approach for the AACMM.

Citation Download Citation

Jian Lu and Guanbin Gao "Kinematic modeling and simulation of articulated arm coordinate measuring machines based on MCPC method", Proc. SPIE 8916, Sixth International Symposium on Precision Mechanical Measurements, 89163L (10 October 2013); https://doi.org/10.1117/12.2035857

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