Technical Briefs

A Kinematic Model for Parallel-Joint Coordinate Measuring Machine

[+] Author and Article Information
Jie Li

e-mail: 2000smile@163.om

Lian-Dong Yu

e-mail: liandongyu@hfut.edu.cn

Jing-Qi Sun

e-mail: aqwsxz123456a@163.com

Hao-Jie Xia

e-mail: hjxia@hfut.edu.cn
School of Instrument Science
and Opto-electronics Engineering,
Hefei University of Technology,
Tunxi Road No. 193,
Hefei 230009, China

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 1, 2012; final manuscript received January 6, 2013; published online September 11, 2013. Assoc. Editor: Delun Wang.

J. Mechanisms Robotics 5(4), 044501 (Sep 11, 2013) (4 pages) Paper No: JMR-12-1021; doi: 10.1115/1.4025121 History: Received March 01, 2012; Revised January 06, 2013

The typical nonorthogonal coordinate measuring machine is the portable coordinate measuring machine (PCMM), which is widely applied in manufacturing. In order to improve the measurement accuracy of PCMM, structural designing, data processing, mathematical modeling, and identification of parameters of PCMM, which are essential for the measurement accuracy, should be taken into account during the machine development. In this paper, a kind of PCMM used for detecting the crucial dimension of automobile chassis has been studied and calibrated. The Denavit–Hartenberg (D–H) kinematic modeling method has often been used for modeling traditional robot, but the D–H error representation is ill-conditioned when it is applied to represent parallel joints. A modified four-parameter model combined with D–H model is put forward for this PCMM. Based on the kinematic model, Gauss–Newton method is applied for calibrating the kinematic parameters. The experimental results indicate the improvement of measuring accuracy and the effectiveness of the PCMM based on the proposed method.

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Grahic Jump Location
Fig. 1

Photograph of the PCMM under study

Grahic Jump Location
Fig. 2

A kinematical representation of the PCMM

Grahic Jump Location
Fig. 3

The transformation of Denavit–Hartenberg model

Grahic Jump Location
Fig. 4

The transformation of modified Denavit–Hartenberg model for revolute joints

Grahic Jump Location
Fig. 5

The calibration standard bar with the probe inserted

Grahic Jump Location
Fig. 6

Reduction of the objective function during iterations

Grahic Jump Location
Fig. 7

Measurement error before and after calibration




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