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Proceedings Paper

Kinematic modeling and verification of an articulated arm coordinate measuring machine
Author(s): Huaishan Zhang; Guanbin Gao; Wen Wang; Jing Na; Xing Wu
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Paper Abstract

The articulated arm coordinate measuring machine (AACMM) is a new type of non-orthogonal coordinate measuring machine (CMM). Unlike the traditional orthogonal CMM which has three linear guides the AACMM is composed of a series of linkages connected by rotating joints. Firstly, the coordinate systems of the AACMM are established according to D-H method, the homogeneous transformation matrixes from the probe to the base of the AACMM are derived. And the graphic simulation system of the AACMM is built in Matlab, which verify the magnitude and direction of the joint angles qualitatively. Then, the data acquisition software of the AACMM is compiled by Visual C++, and there is a statistical analysis on the calculated measuring coordinates and actual coordinates, which indicates that the kinematic model of the AACMM is correct. The kinematic model provides a basis for measurement, calibration and error compensation of the AACMM.

Paper Details

Date Published: 26 January 2016
PDF: 7 pages
Proc. SPIE 9903, Seventh International Symposium on Precision Mechanical Measurements, 99031X (26 January 2016); doi: 10.1117/12.2214172
Show Author Affiliations
Huaishan Zhang, Kunming Univ. of Science and Technology (China)
Guanbin Gao, Kunming Univ. of Science and Technology (China)
Wen Wang, Hangzhou Dianzi Univ. (China)
Jing Na, Kunming Univ. of Science and Technology (China)
Xing Wu, Kunming Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 9903:
Seventh International Symposium on Precision Mechanical Measurements
Liandong Yu, Editor(s)

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