Kinematic modeling and verification of an articulated arm coordinate measuring machine

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.