A New Kinematic Model of Portable Articulated Coordinate Measuring Machine

Portable articulated coordinate measuring machine (PACMM) is a kind of high accuracy coordinate measurement instrument and it has been widely applied in manufacturing and assembly. A number of key problems should be taken into consideration to achieve the required accuracy, such as structural design...

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Bibliographic Details
Published inApplied sciences Vol. 6; no. 7; p. 181
Main Authors Zhao, Hui-Ning, Yu, Lian-Dong, Jia, Hua-Kun, Li, Wei-Shi, Sun, Jing-Qi
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.07.2016
Subjects
Accuracy
Algorithms
Calibration
Coordinate measuring machines
Errors
Gauges
generalized geometric error parameters
Kinematics
Levenberg-Marquard algorithm
Mathematical models
Performance evaluation
Portability
portable articulated coordinate measuring machine
Robots
sample strategy
Standard deviation
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Summary:Portable articulated coordinate measuring machine (PACMM) is a kind of high accuracy coordinate measurement instrument and it has been widely applied in manufacturing and assembly. A number of key problems should be taken into consideration to achieve the required accuracy, such as structural design, mathematical measurement model and calibration method. Although the classical kinematic model of PACMM is the Denavit-Hartenberg (D-H) model, the representation of D-H encounters the badly-conditioned problem when the consecutive joint axes are parallel or nearly parallel. In this paper, a new kinematic model of PACMM based on a generalized geometric error model which eliminates the inadequacies of D-H model has been proposed. Furthermore, the generalized geometric error parameters of PACMM are optimized by the Levenberg-Marquard (L-M) algorithm. The experimental result demonstrates that the measurement of standard deviation of PACMM based on the generalized geometric error model has been reduced from 0.0627 mm to 0.0452 mm with respect to the D-H model.
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ISSN:2076-3417
2076-3417
DOI:10.3390/app6070181