Structural design and performance analysis of a self-driven articulated arm coordinate measuring machine

Abstract

In order to solve the problem that a traditional articulated arm coordinate measuring machine (AACMM) cannot measure automatically, a self-driven AACMM is proposed. Based on the self-driven AACMM design indicators, the length of the connecting rods of the self-driven AACMM was allocated. The self-driven AACMM virtual prototype was designed and assembled based on joint module selection and joint component design, and its measurement space range was also verified. The key components of the structural optimized design and dynamic performance analysis of motion parameters are adopted, respectively, to correct the positioning error of the self-driven AACMM’s probe caused by static and dynamic deformations. The static deformation of the structure caused by the self-driven AACMM’s weight was analyzed. The influence of the dynamic flexible deformation on the positioning error of the probe of the self-driven AACMM during the variable-speed approach and the constant-speed touch measurement stage was studied. The results show that the measurement space range of the self-driven AACMM designed in this paper can meet the design index of the measuring radius. The probe position error caused by static deformation of the measuring machine after structural optimization is reduced by an order of magnitude, and the equivalent stress of the mechanical structure of the self-driven AACMM is within the allowable stress of the material. The positioning error of the probe caused by the dynamic deformation of the self-driven AACMM structure meets the positioning accuracy index. During the stage of self-driven AACMM constant-speed touch measurement, the instantaneous position error of the probe changes linearly with the touch time and the optimal touch speed (6.6 mm s−1, 6.4 mm s−1) exists to minimize the probe positioning error. During the variable-speed approach stage, the influence of the angular acceleration and the angular velocity of each joint on the positioning error of the probe is negligible when the self-driven AACMM is in the typical posture. In the extreme posture, with the optimal joint angular acceleration () and angular velocity (), the inertial force of the measuring machine structure and the instantaneous position error of the probe are the smallest, and the movement stability is the best. The structural optimization design and motion parameter performance analyses of the self-driven AACMM can provide a theoretical research foundation for subsequent motion parameter optimization and dynamic error compensation modeling.