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Proceedings Paper

Kinematic modeling and simulation of articulated arm coordinate measuring machines based on MCPC method
Author(s): Jian Lu; Guanbin Gao
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Paper 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.

Paper Details

Date Published: 10 October 2013
PDF: 6 pages
Proc. SPIE 8916, Sixth International Symposium on Precision Mechanical Measurements, 89163L (10 October 2013); doi: 10.1117/12.2035857
Show Author Affiliations
Jian Lu, Kunming Univ. of Science and Technology (China)
Guanbin Gao, Kunming Univ. of Science and Technology (China)

Published in SPIE Proceedings Vol. 8916:
Sixth International Symposium on Precision Mechanical Measurements
Shenghua Ye; Yetai Fei, Editor(s)

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