Coordinate Measurement System Research Articles

基于激光多边法的坐标测量系统最佳布局

基于激光多边法的坐标测量系统最佳布局

基于激光多边法的坐标测量系统布局优化

基于激光多边法的坐标测量系统布局优化

Robust generalized numerical inspection fixture for the metrology of compliant mechanical parts

Free-form non-rigid parts form the essence of today’s automotive and aerospace industries. These parts have different shapes in free state due to their dimensional and geometric variations, gravity and residual strains. For the geometric inspection of such compliant parts, special inspection fixtures are used in combination with coordinate measuring systems (CMM) and/or optical data acquisition devices (scanners). In our previous work, a general procedure was developed to eliminate the use of inspection fixtures. We measured the similarities between CAD model and scanned data by taking the advantage of the geodesic distance metric. Then, using finite element non-rigid registration, we deformed the CAD model into range data to find the geometric deviations. Here, we apply a new method to robustify the generalized numerical inspection fixture. We filter out points causing incoherent geodesic distances and demonstrate that our approach has several significant advantages, one being the ability to handle parts with missing range data. The other advantage of the method presented is its capacity to inspect parts with large deformations.

Propagation et modélisation numérique de la conduction acoustique par voie osseuse

Bone conduction (BC) is an alternative to air conduction to stimulate the inner ear. In general, the stimulation for BC occurs on a specific location directly on the skull bone or through the skin covering the skull bone. The stimulation propagates to the ipsilateral and contralateral cochlea, mainly via the skull bone and possibly via other skull contents. This study aims to investigate the wave propagation on the surface of the skull bone during BC stimulation at the forehead and at ipsilateral mastoid.Measurements were performed in five human cadaveric whole heads. The electro-magnetic transducer from a BCHA (bone conducting hearing aid), a Baha® Cordelle II transducer in particular, was attached to a percutaneously implanted screw or positioned with a 5-Newton steel headband at the mastoid and forehead. The Baha transducer was driven directly with single tone signals in the frequency range of 0.25–8 kHz, while skull bone vibrations were measured at multiple points on the skull using a scanning laser Doppler vibrometer (SLDV) system and a 3D LDV system. The 3D velocity components, defined by the 3D LDV measurement coordinate system, have been transformed into tangent (in-plane) and normal (out-of-plane) components in a local intrinsic coordinate system at each measurement point, which is based on the cadaver head's shape, estimated by the spatial locations of all measurement points.Rigid-body-like motion was dominant at low frequencies below 1 kHz, and clear transverse traveling waves were observed at high frequencies above 2 kHz for both measurement systems. The surface waves propagation speeds were approximately 450 m/s at 8 kHz, corresponding trans-cranial time interval of 0.4 ms. The 3D velocity measurements confirmed the complex space and frequency dependent response of the cadaver heads indicated by the 1D data from the SLDV system. Comparison between the tangent and normal motion components, extracted by transforming the 3D velocity components into a local coordinate system, indicates that the normal component, with spatially varying phase, is dominant above 2 kHz, consistent with local bending vibration modes and traveling surface waves.Both SLDV and 3D LDV data indicate that sound transmission in the skull bone causes rigid-body-like motion at low frequencies whereas transverse deformations and travelling waves were observed above 2 kHz, with propagation speeds of approximately of 450 m/s at 8 kHz.

Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker

SUMMARYThe absolute accuracy of a small industrial robot is improved using a 30-parameter calibration model. The error model takes into account a full kinematic calibration and five compliance parameters related to the stiffness in joints 2, 3, 4, 5, and 6. The linearization of the Jacobian is performed to iteratively find the modeled error parameters. Two coordinate measurement systems are used independently: a laser tracker and an optical CMM. An optimized end-effector is developed specifically for each measurement system. The robot is calibrated using fewer than 50 configurations and the calibration efficiency validated in 1000 configurations using either the laser tracker or the optical CMM. A telescopic ballbar is also used for validation. The results show that the optical CMM yields slightly better results, even when used with the simple triangular plate end-effector that was developed mainly for the laser tracker.

Tracking Control of Complex Seam in Laser Welding Based on Visual Measurement

In order to realize complex seam tracking accurately in the process of laser welding, a system for measuring joint seam was constructed by means of vision sensor. The system gives the method of measuring and calculating the center line, width, and normal vector. It also gives the transformation between measurement coordinate system to the camera coordinate system and the plan of the torch path. Tracking experiment of complex seam was done and shows that this tracking control system of complex seam in laser welding based on visual measurement is able to meet the requirements about tracking control of 3-D laser welding.

Inspection of freeform surfaces considering uncertainties in measurement, localization and surface reconstruction

Inspection of a manufactured freeform surface can be conducted by building its surface model and comparing this manufactured surface model with the ideal design surface model and its tolerance requirement. The manufactured freeform surface model is usually achieved by obtaining measurement points on the manufactured surface, transforming these measurement points from the measurement coordinate system to the design coordinate system through localization, and reconstructing the surface model using the localized measurement points. In this research, a method was developed to estimate the locations and their variances of any selected points on the reconstructed freeform surface considering different sources of uncertainties in measurement, localization and surface reconstruction processes. In this method, first locations and variances of the localized measurement points are calculated considering uncertainties of the measurement points and uncertainties introduced in the localization processes. Then locations and variances of points on the reconstructed freeform surface are obtained considering uncertainties of the localized measurement points and uncertainties introduced in the freeform surface reconstruction process. Two case studies were developed to demonstrate how these three different uncertainty sources influence the quality of the reconstructed freeform curve and freeform surface in inspection.

Accurate evaluation of free-form surface profile error based on quasi particle swarm optimization algorithm and surface subdivision

Although significant progress has been made in precision machining of free-form surfaces recently, inspection of such surfaces remains a difficult problem. In order to solve the problem that no specific standards for the verification of free-form surface profile are available, the profile parameters of free-form surface are proposed by referring to ISO standards regarding form tolerances and considering its complexity and non-rotational symmetry. Non-uniform rational basis spline(NURBS) for describing free-form surface is formulated. Crucial issues in surface inspection and profile error verification are localization between the design coordinate system(DCS) and measurement coordinate system(MCS) for searching the closest points on the design model corresponding to measured points. A quasi particle swarm optimization(QPSO) is proposed to search the transformation parameters to implement localization between DCS and MCS. Surface subdivide method which does the searching in a recursively reduced range of the parameters u and v of the NURBS design model is developed to find the closest points. In order to verify the effectiveness of the proposed methods, the design model is generated by NURBS and the measurement data of simulation example are generated by transforming the design model to arbitrary position and orientation, and the parts are machined based on the design model and are measured on CMM. The profile errors of simulation example and actual parts are calculated by the proposed method. The results verify that the evaluation precision of freeform surface profile error by the proposed method is higher 10%–22% than that by CMM software. The proposed method deals with the hard problem that it has a lower precision in profile error evaluation of free-form surface.

并联坐标测量机的结构优化

A novel style Coordinate Measuring System(CMM)based on the 3-PUU parallel mechanism was proposed to realize 3Dmeasurement with only one linear grating and two precision guides.On the basis of a previous prototype with passive motion,aprototype with active motion was re-designed after optimizing the structure parameters of the previous prototype.Firstly,dimensions and positional parameters of main components were decided by the 6-bar direct kinematics model and the principle of maximum measuring space.Then,by re-designing and arranging the pose of each joint,the measuring space of CMM was ensured.Finally,according to the motion characteristics and parameters of the designed CMM prototype,the deformation of key components was processed by Finite Element Analysis(FEA)to control and decease the affect of deformation on the precision of the CMM.As compared with the previous prototype,the proposed design has a measuring space of 1 050mm×535mm×426mm,which enlarges the measuring space 92%in xaxis,134%in yaxis,113%in z axis,respectively,and its mechanical properties can be improved greatly.

高精度柔性坐标测量系统及其校准技术研究

高精度柔性坐标测量系统及其校准技术研究

A Novel Algorithm of Posture Best Fit based on Key Characteristics for Large Components Assembly

Measurement and variation control of geometrical Key Characteristics (KCs), such as flatness and gap of joint faces, coaxiality of cabin sections, is the crucial issue in large components assembly from the aerospace industry. Aiming to control geometrical KCs and to attain the best fit of posture, an optimization algorithm based on KCs for large components assembly is proposed. This approach regards the posture best fit, which is a key activity in Measurement Aided Assembly (MAA), as a two-phase optimal problem. In the first phase, the global measurement coordinate system of digital model and shop floor is unified with minimum error based on singular value decomposition, and the current posture of components being assembly is optimally solved in terms of minimum variation of all reference points. In the second phase, the best posture of the movable component is optimally determined by minimizing multiple KCs’ variation with the constraints that every KC respectively conforms to its product specification. The optimal models and the process procedures for these two-phase optimal problems based on Particle Swarm Optimization (PSO) are proposed. In each model, every posture to be calculated is modeled as a 6 dimensional particle (three movement and three rotation parameters). Finally, an example that two cabin sections of satellite mainframe structure are being assembled is selected to verify the effectiveness of the proposed approach, models and algorithms. The experiment result shows the approach is promising and will provide a foundation for further study and application.

Geometric error model and measuring method based on worktable for five-axis machine tools

This article presents a new integrated geometric model that takes worktable as reference for five-axis machine tools. It could simplify the description of different machine kinetic structures and uniform the measurement coordinate system and machining coordinate system. Based on this model, a new method of measuring geometric errors with conventional instruments is proposed. It could break through some existing limitations, such as special instrument, specific machine kinetic structures, or errors incompletion. In addition, some deviation errors in measuring process could be eliminated to improve accuracy further. Finally, a series of experiments are conducted on a five-axis machine tool with rotary worktable and tilting head. The results show that the error model and measuring method are effective and applicable.

<i>In Vivo</i> Failure Phenomena of Ultra-High Molecular Weight Polyethylene Acetabular Cups

During this study the distortion phenomenon was investigated on selected UHMWPE cups removed from patients, using 3dimensional measurement method. The cups investigated were machined by Metrimed Ltd. from ram extruded Chirulen 1020 type UHMWPE rods. The samples were measured with a 3D touch coordinate measurement device with an accuracy of 3 microns.

Three-Dimensional Scanning System with Double Structured-Light Sensors

Three-dimensional (3D) vision scanning measurement is widely used in industry for its ability to obtain the 3D surface data of the object. Aiming at overcoming the shortcomings of 3D scanning measurement system with single structured-light sensor, such as limited measurement range and blind measurement area, a scanning system based on double structured-light sensors (DSS) is established. The object is scanned from two different directions, and the 3D surface coordinates are unified to the measurement coordinate system to obtain the 3D surface of the measured object. In this paper, the mathematical model of the DSS scanning system is established. Meanwhile, an on-site calibration approach based on planar target is proposed to complete the system calibration task. Finally, experimental results of practical data are given to show the feasibility and validity of the proposed system.

DATUM TRANSFORMATION OF SPATIAL DATA AND APPLICATION IN CADASTRE

Abstract. In Turkey, cadastral works have been started with local-based works in 1924 and speeded up after 1950's by using photogrammetry. Different measurement methods, coordinate systems and scales have been used in these works. As a result of primary cadastral activities two main products are generated; cadastral maps and title deeds. After this, cadastral data live on the maps, by cadastral activities carried out by cadastral offices and title deed data live on the registrations by land registration activities carried out by land registration offices. Up to 2005 different references systems such as local (graphic) and ED50 have been used for Cadastral maps production. 2000's Land Registry and Cadastre Information System (TAKBİS) Project has started as a pilot application by Land Registry and Cadastre (TKGM). After completion of pilot project spreading activities started in 2005 and still has been ongoing. On the other hand The government has taken the decision to finish primary cadastral activities within three years. The primary cadastral activities completed at the end of 2008. And also TKGM has completed metadata portal in 2008. At last, cadastral map updating (renovation) started in 2009 by using digital orthophoto with 30 cm GSD. Today people have great expectations in accomplishing digital cadastral services, they need correct, reliable, easy and quick accessible land register and cadastral survey information. Even such request expressed in INPIRE directive by using ISO 191XX data standards. This means we have great hard work for spatial data conversion, datum and data transformation for map and cadastral data harmonization. This paper presents results of investigation of used cadastral maps and used datums of the TKGM and possible transformation methods of datum and some recommendations for future applications.

Corrective algorithms for measurement improvement in MScMS-II (mobile spatial coordinate measurement system)

Abstract This paper presents a set of algorithms for the correction of measurement errors of a prototype system designed for large scale dimensional metrology (LSDM) applications. The system, developed in the Quality and Industrial Metrology Laboratory of Politecnico di Torino, is based on the principles of photogrammetry and consists of a set of cameras wirelessly connected to a central unit able to track the position of a portable contact probe. Due to its architecture the system is affected by several systematic error sources. This paper addresses some of them: the distortion of the lenses, the dimension of the probe tip and the kinematic of the probe. By means of the implementation of appropriate mathematical correction models, the overall system performance is significantly improved as shown by the conducted tests.

New three-dimensional fiber probe for multisensor coordinate measurement

Increasing manufacturing accuracy requirements enforce the development of innovative and highly sensitive measuring tools. Especially for measurement with submicrometer accuracy, the sensor principle has to be chosen appropriately for each measurement surface. Modern multisensor coordinate measurement systems allow automatic selection of different sensor heads to measure different areas or properties of a sample. As an example, different types of optical sensors as well as tactile sensors can be used within the same measuring system. I describe different principles of optical sensors used in multisensor coordinate measurement systems as well as a new approach for tactile measurement with submicrometer accuracy. A special fiber probe has been developed. The tip of the fiber probe is formed as a sphere. The lateral position of this sphere is observed by a microscope objective and can be determined within a fraction of a micrometer. Additionally, a novel optical setup now allows the determination of the z-position of the fiber tip with submicrometer accuracy. For this purpose, an interferometer setup is used. The laser light is coupled into the optical fiber. The light exiting the fiber tip is collected by the microscope objective and superposed with a reference wave, generated directly from the laser. The result is an interference signal that is recorded by the camera and processed by a computer. With this setup, the z-displacement of the fiber sphere can be measured with an accuracy of a fraction of the laser wavelength used.

Calibration of Large Scale Coordinate Measuring System Based on Scanning Laser Plane

To overcome the disadvantages of existing large-scale coordinate measurement systems about low level of automation and poor parallelism, this paper introduces a novel system which characters multi-sensor measuring network, while a single sensor measures angle via a couple of non-parallel planar laser beams rotating around a fixed shaft. The novel method for measuring angle improves automation in large-scale coordinate measurement. Furthermore, measuring network assures that measurement accuracy keeps to the same level even when the measuring range is enlarged. Measurement model and calibration are the key technologies of the system. They are the main sources of measuring errors. Therefore, to minimize the error, a practical global calibration method for the multi-sensor network system is proposed, with constructing a precise mathematical model. In this model, the parameters of the system are divided to inner and outer parts. While the inner parameters are obtained by aided instrument, the outer which means transform parameters between different sensors are figured out in spot calibration. Finally, the objective function based on transform coefficients between different sensor coordinate systems is defined and the outer parameters are optimized by bundle adjustment method. Thus, the whole system can finish global calibration by one time，and no medi-coordinate-frame is needed．Therewith，transformation time of coordinate frame decreases and calibration process is facilitated. Finally，measurement experiments are conducted with root mean square(RMS) error of not more than 0.1 mm.

WORKSPACE MEASURING AND POSITIONING SYSTEM BASED ON ROTATING LASER PLANES

This paper introduces a novle type of large-scale coordinate measurement system by the name of wMPS (workspace Measurement and Positioning System), which is based on scanning planar laser beams and multiderection positioning. wMPS provides a novel technical solution for large-scale coordinate precision measurement. System configuration of wMPS was represented and multiplane constraint mathematical model was established in global coordinate system to achieve positioning. Adjustment calibration method as the basis for measuring was described, as well as the setup process. At last, an actual measuring network using three transmitters was built up. The experiment results show that the overall accuracy of the system can be achieved within 0.1 mm at the range of 10 m and has a satisfactory stability. DOI: http://dx.doi.org/10.5755/j01.mech.18.1.1289

Simple three-dimensional laser radar measuring method and model reconstruction for hot heavy forgings

Dimensional measurement of hot heavy forgings is desirable to permit real-time process control, but usually it is inconvenient because of the difficulty in working with very hot workpieces. We present a new three dimensional (3D) measuring approach based on a two-dimensional laser range sensor (TLRS). First, the measurement system is obtained by assembling a TLRS, an axis of rotation, and a servo motor, which rotates the scan plane of the laser ranger sensor and lets the TLRS scan forgings in different planes. Therefore, the coordinates of forging surface points can be obtained in a sensor coordinate system (SCS). According to the transformation matrix between the SCS and measurement coordinate system (MCS), coordinates of points in different SCSs can be transferred into one fixed MCS. Hence the actual 3D models of hot heavy forgings can be reconstructed by using a triangulated irregular network and be optimized by employing improved Delaunay rules. Different parameters of forgings, such as lengths and diameters, can be measured based on the 3D model. The new method is verified by experiments in both the laboratory and the forging workshop. The experimental results indicate that it is much more practical and convenient for the real-time, onsite measurement of hot heavy forgings.