YU Lian-dong,CAO Jia-ming,ZHAO Hui-ning,et al.A New Kinematics Model of Articulated Arm Measuring Machine[J].Optics and Precision Engineering,DOI:10.37188/OPE..0001
A New Kinematics Model of Articulated Arm Measuring Machine
Articulated arm coordinate measuring machine (AACMM) which is one of the non-orthogonal portable coordinate measuring instruments with series structure, its angle error has an amplifying effect on its measurement accuracy, which directly leads to the difficulty of improving its measurement accuracy. In view of the above problems, the kinematic modeling method of AACMM with the tilt error motion compensation of the rotation axis is proposed based on DH model; the method for separating the tilt error motion of the rotation axis is studied and the corresponding test system is built; the calibration model of structural parameter errors is established based on spatial distance and the corresponding experiments are also carried out. The experimental results show that, compared with the DH model,the measurement standard deviation of AACMM whose kinematics model includes the function of compensating the tilt error motion of the rotation axis is reduced from 0.055 mm to 0.037 mm.
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