Motion Mechanism Research Articles

Design and optimization of a planar anti-buckling compliant rotational joint with a remote center of motion

Compliant mechanisms (CMs) exhibit some excellent mechanical properties and provide numerous innovative solutions for many existing mechanical applications. Among them, planar compliant rotational joints have made substantial contributions to precision engineering. To achieve high-precision positioning with a compliant rotational joint, it is essential to study characteristics such as anti-buckling and constant stiffness. The remote center of motion (RCM) mechanism, with its compact structure and ease of precise control, is expected to enhance overall rigidity and reduce parasitic displacements. Here, we propose a planar anti-buckling compliant rotational joint with a RCM. Static modeling and model validation are conducted for different geometric configurations, including single and combined structures. A distributed configuration with bidirectional anti-buckling properties is selected for optimization. Using a global parameter optimization model, single-objective optimization studies are conducted for three distinct characteristics. Subsequently, a multi-objective optimization model for constant stiffness and high precision is established. Based on the optimization results, a compliant rotational joint with bidirectional anti-buckling, constant rotational stiffness, and high precision is designed. Finally, the effectiveness of the optimization method is validated through physical experiments.

Practical 6-DoF Manoeuvring Simulation of a BB2 Submarine Near the Free Surface

It is necessary to predict the manoeuvring performance of a submarine accurately at the early design stage for its safe and effective operations. In this paper, the practical 6-DoF simulation models of an X-form stern plane submarine operating near the free surface are proposed. A 1/15 scaled model of ‘BB2 submarine’ is constructed, the captive model tests are performed in a towing tank of Korea Research Institute of Ships and Ocean Engineering (KRISO) at the full-scale depths, 30, 15.4 (snorkel depth), and 4.5 metres (surfaced depth). Resistance and propulsion tests are performed at the deepest depth, 30 metres. The vertical planar motion mechanism (PMM) tests including the forced rolling motions are also carried out at the depth of 30 metres. The horizontal PMM tests are conducted at three kinds of depths, respectively. The depth-varying horizontal plane coefficients in the model are identified, and the coefficients which are little influenced by the depths are treated as the constant values for the practical purpose. Some of velocity coupled terms are approximated by using the added mass coefficients on the assumption that the viscous components are negligible. In addition, the resistance increases, vertical suction forces and moments are measured in the straight-ahead tests with varying the submergence depths. The free surface effects are considered as the exponential function terms in the proposed models. Based on the present tests and the previous studies about the free surface effects on the submerged bodies, it is practically assumed that the free surface effects are exponentially decayed with the depths, and are already negligible when the submergence depth is 30 metres, approximately three times the hull depth. Horizontal and vertical plane manoeuvring motions as well as the neutral flights are simulated with the control plane deflections less than 15 degrees. The present simulations are in good agreements with existing free-running model test results.

Evasion Maneuver and Timing Strategy for UAVs Under Direct Force Control

Given the capabilities of modern high-performance missiles, efficient evasion maneuver strategies are crucial for enhancing UAV survivability. This paper addresses the integration of evasion strategies and maneuver timing for targeted UAVs. First, a three-dimensional engagement scenario is modeled using the relative motion mechanism. Subsequently, a fundamental evasion strategy focusing on large roll maneuvers and two-phase acceleration is developed. With the initiation timing of direct force control designated as the control variable, the formulation of a constrained optimization problem to maximize miss distance is fully articulated. While preserving the high fidelity of the established switching model, the feasible timing intervals and the optimal timing are determined through numerical optimization. Finally, simulation experiments are conducted focusing on omnidirectional attacks from the upper hemisphere. The results demonstrate that by implementing specific evasion maneuvers at optimal timing, the target successfully escapes the effective range of the proximity fuse, thus confirming the feasibility of the proposed evasion maneuver and timing strategy.

Influence of wettability and surface tension on bubble formation from a needle

AbstractThe multiphase flow accompanied by contact line motion is a common flow phenomenon in nature and industry. When investigating the bubble formation from a needle, it is generally assumed that the contact line is fixed at the inner diameter of a needle. Namely, the influence of contact line motion on bubble formation is ignored. In this paper, the effects of wettability and surface tension on the characteristics of bubble formation were studied using volume of fluid method. The changes of bubble volume, instantaneous contact angle, contact line radius, and the motion mechanism of contact line were analyzed in detail. It is found that when surface wettability and/or surface tension are different, the motion type of contact line during bubble formation is different, and the stage of bubble formation shows a great difference too. The motion of contact line is mainly affected by the pressure inside a bubble, the adhesion force, and the hydrostatic pressure of liquid outside a bubble. The sum of all forces driving contact line to move inward or outward controls the motion type of contact line.

A novel wafer defocus measurement method for spot-scanning imaging system using laser triangulation

Abstract For spot scanning dark-field scattering technology, the defocus caused by the change in wafer surface height decreases the defect detection rate and size measurement repeatability. The demand for accurately and rapidly measuring the wafer surface height online is becoming increasingly urgent. The defect detection system integrates scattering, reflection, film thickness, and topography defect detection channels. The integration of laser-triangulation-based defocus measurement into the bright-field optical path is proposed. The laser beam is directed onto the surface of the wafer, and the reflected light is transmitted through a lens onto the photosensitive surface of a four-quadrant detector. This detector captures both the strength and position of the reflected signal simultaneously. In this paper, a triangulation-modified model is established to obtain the height of each inspection spot on the wafer surface through the position signal of the reflected image. When the signal-to-noise ratio of the simulated reflection image position is 20 dB, the signal-to-noise ratio of the height measurement resolved by the triangulation-modified model is 41 dB, and the measurement error is less than 0.2 μm, indicating that the model has a noise suppression effect. The spot-scanning imaging system is established, and the height measurement results of the triangulation measurement model are verified using a laser interferometer. Within the travel range of 69 μm, the system has a measurement accuracy better than ±1 μm and a measurement repeatability better than ±0.2 μm, which meet the measurement requirements of the spot-scanning imaging system. The system is utilized for defect detection and defocus measurement of the wafer surface, along with the motion mechanism, to accurately and rapidly obtain the height distribution of the wafer surface.

Development and Evaluation of a Wearable Upper Limb Assistive Device with a Remote Center of Motion Mechanism

Workers in factories, construction sites, and farms are often exposed to the risk of physical disability and injury. Particularly, the lower back and shoulders require assistance, as injuries can make it difficult to continue working. While social concern about back injuries is high and preventive measures are taken, lesser attention is paid to shoulders, resulting in inadequate assistance and prevention mechanisms. Therefore, wearable, low-cost, and lightweight upper limb assistive devices that can be used in multiple scenarios are desired by workers. In this study, we proposed a device that uses a remote center of motion (RCM) mechanism, enabling the device to support user’s upper arm from below, and the rotational center of device to correspond with shoulder joint. The theoretical assist torque is designed to be sufficient for arm gravity compensation of Japanese males of standard body size. The calculated theoretical assist torque for each shoulder joint is about 8 Nm and maximum assist force for each arm was about 36.3 N (3.7 kgf). Experimental evaluation using a prototype of this device on three healthy adult males demonstrated a decrease in muscle activity of approximately 38% in the anterior deltoid, 31% in the middle deltoid, and 11% in the posterior deltoid as an average of all results in a dynamic experiment in which the participants performed the indicated movements.

Efficient Data Collection Strategy for Modeling the Dynamics of Floating Robotic Vehicles Using Neural Networks

As the hydrodynamic model of a surface vehicle is highly nonlinear and of high dimension, an extensive set of experiments is required to estimate the parameters of the model. Typically, the dynamic behavior of a surface vehicle is investigated through experimental tests such as planar motion mechanisms or free running tests in specialized test facilities. However, the cost of such tests is very high, and it is challenging to design effective and efficient test conditions, especially when the model is represented by numerous parameters such as neural networks. In this paper, we propose an efficient data collection strategy for modeling the dynamics of a floating robotic vehicle using neural networks. For generalized modeling, it is important to collect diverse data by exploring all the reachable state space of the vehicle. To achieve this, a data collection policy is built based on sampling-based planning toward reducing the uncertainty of the neural network-based model. The proposed method allows for collecting more comprehensive data than other commonly used random-based data collection policies. We show experimentally that the proposed method enables more accurate modeling of both fully actuated and under-actuated floating robotic vehicles, as demonstrated by the effective execution of various tasks.

Anisotropy of object nonrigidity: High-level perceptual consequences of cortical anisotropy.

We present a surprising anisotropy in perceived object nonrigidity, a complex, higher-level perceptual phenomenon, and explain it unexpectedly by the distribution of low-level neural properties in primary visual cortex. We examined the visual interpretation of two rigidly connected rotating circular rings. At speeds where observers predominantly perceived rigid rotation of the rings rotating horizontally, observers perceived only nonrigid wobbling when the image was rotated by 90°. Additionally, vertically rotating rings appeared narrower and longer compared to their physically identical horizontally rotating counterparts. We show that these perceived shape changes can be decoded from V1 outputs by incorporating documented anisotropies in orientation selectivity. We then show that even when the shapes are matched, the increased nonrigidity persists in vertical rotations, suggesting that motion mechanisms also play a role. By incorporating cortical anisotropies into optic flow computations, we show that the kinematic gradients (Divergence, Curl, Deformation) for vertical rotations align more with physical nonrigidity, while those for horizontal rotations align closer to rigidity, indicating that cortical anisotropies contribute to the orientation dependence of the perception of nonrigidity. Our results reveal how high-level percepts are shaped by low-level anisotropies, which raises questions about their evolutionary significance, particularly regarding shape constancy and motion perception.

Designs in Bionic Robots: Compared with Conventional Robots

With the advancement in relative technology, robotics is gaining an increasing amount of attention among engineers and researchers as it is a current focus on enabling peoples lives to become more convenient. However, there is another type of robot designed very differently from functional robots like delivery robots and quadrotors that most people are familiar with, bionic robots. This is a kind of robots that gets design inspiration from real animals in nature, from the design of structure to altitudes and mechanisms of motion. How bionic robots are designed, and how the conceptional difference of bionic robots with other robots is reflected on their physical designs are the focuses of this paper. In this paper, four basic types of bionic robots are introduced and 17 existing designs of bio-inspired vehicles are included. 10 bionic aerial vehicles in 3 smaller classifications are compared to 3 conventional aerial vehicles in order to figure out differences in 3 aspects (structure design, sensors, and control method). The results show that bionic robots usually have more degrees of freedom in order to mimic animals attitudes, and are lighter in weight. Typically, bio-inspired aerial vehicles employ different wing systems compared with conventional ones. Additionally, while conventional vehicles favour PID more because of its ease of construction, bionic robots use machine learning techniques. Both types of robots use the same sensors, which is necessary for them to detect their environment. However, their control methods differ due to different purposes.

The experimental investigation of performance behaviors of a beta-type Stirling engine with bell-crank motion mechanism

The current study aims to develop a novel power generation system that is capable of working with a Stirling engine. Within this context, a β-type Stirling engine design has been created with a bell-crank motion mechanism and a 365 cm3 swept volume. The engine has been manufactured, and then a detailed assessment has been conducted to determine the impact of the motion mechanism on engine performance characteristics. The designed and manufactured engine has been tested using a range of working fluids, such as air, argon, carbon dioxide, helium, and nitrogen gases. The performance tests of this engine have been carried out at 1000 K (±10) heater and 300 K (±5) coolant temperatures. Based on the outcomes of the experimental studies, the highest engine power and torque values have been obtained at a charge pressure of 4 bar using helium gas, with 143.5 W at 267 rpm and 7.75 Nm at 100 rpm, respectively. Moreover, the maximum engine power values obtained from other tests with nitrogen, air, carbon dioxide and argon gases have been compared with helium gas. Helium gas has been found to outperform nitrogen, air, carbon dioxide, and argon gases in tests by 67.3%, 73.9%, 197.1%, and 200.2%, respectively. Finally, the highest thermal efficiency value has been obtained with helium gas as 48.7% at a charge pressure of 4 bar.

Interpretation of delayed suspended sediment transport during flood events from the perspective of movement characteristics

Different velocities of flood and suspended sediment peaks during flood events result in the delayed transport of suspended sediment, which is exacerbated by reservoir impoundment. The diversity of flood events, the asynchronous pattern of suspended sediment peaks during flood formation and human activities lead to notable differences in the propagation of flood peaks and suspended sediment peaks and subsequently affect the suspended sediment lag, which poses certain problems and challenges for watershed governance, especially reservoir management. In this paper, the Three Gorges Reservoir (TGR) is selected as the research object, and we adopts the analysis of measured data, K-means cluster analysis, 1-D mathematical model and random forest regression. First, the flood process of the TGR from 2003 to 2020 is selected, and then flood event types with nine flood indices are identified. The influences of different flood types on flood and suspended sediment peak propagation are subsequently clarified. We then systematically analyse the factors influencing flood and suspended sediment peak propagation, explore the contributions of different influencing factors to the suspended sediment transport lag, and assess the reasons for the recent changes in the suspended sediment transport lag. The results show that (1) flood events entering the TGR can be approximately classified into six different types, the long-duration and dwarf-fat type (Type 1, 6.59 %), the sharp-thin and early-peak type (Type 2, 20.88 %), the medium-duration and conventional type (Type 3, 27.47 %), the short-duration and sharp-thin type (Type 4, 25.27 %), the long-duration and dramatic-change type (Type 5, 5.49 %), and the medium-duration and multiple-peaks type (Type 6, 14.29 %). (2) Different flood event types result in different effects on the propagation of both the flood and suspended sediment peak. Under the condition of a reservoir flood limit level of 145 m, the flood types for which Qp propagates are as follows from slowest to fastest: Type 1 > Type 5 > Type 2 > Type 3 > Type 6 > Type 4. Moreover, the flood types for which SSCp propagates are as follows from slowest to fastest: Type 4 > Type 2 > Type 3 > Type 6 > Type 1 > Type 5. (3) The initial SSCp asynchronous relationship is the most dominant factor influencing the lagged transport of suspended sediment in the reservoir area, accounting for 32.80 % to 89.40 % of the variation in suspended sediment transport lag, followed by the impacts of differences in flood types (8.2 % to 52.20 %) and reservoir scheduling (2.4 % to 15 %). (4) Human activities, particularly the damming of the cascade reservoirs in the upper reaches of the TGR area and the adjustment of the water level from 145 to 155 m in the TGR due to reservoir scheduling protocols, lead to an increase in the lagged transport time of suspended sediment peak. These findings reveal the asynchronous and differential propagation characteristics and motion mechanisms of flood and suspended sediment peaks in the reservoir area, thereby providing a solid theoretical basis for refining sediment peak discharge scheduling in the TGR.

Design and Experiment of an Inter-Row Weeding Machine Applied in Soybean and Corn Strip Compound Planting (SCSCP)

To address the lack of specialized machinery for the mechanical weeding of SCSCP in the Huang Huai Hai region, this study designs a mechanized inter-row weeding machine for SCSCP. The machine features a reciprocating weeding shovel and an adaptive contouring mechanism for cultivation and soil loosening. This paper details the machine’s principles by analyzing the geometric relationship and mechanical model between the corresponding profiling quantities, which determine the relevant parameters for adaptive contouring to ensure stable operation on undulating ground. Furthermore, by optimizing the design of the weeding shovel’s reciprocating motion mechanism, combining EDEM simulation with the weeding shovel–soil interaction, it has been determined that, at various PTO shaft speeds, the optimal weeding efficacy is achieved with a blade-type weeding shovel structure when operating at a forward speed of 3.5 km/h. Field experiments were conducted with different PTO shaft speeds and weeding depths, using weeding and seedling injury rates as performance indicators. The results showed that, based on the optimal speed, the PTO shaft speed is 760 r/min, the operating depth is 3–5 cm, and the average row weeding rate is 90.4%. The average soybean and corn seedling injury rate is 3.4% and 4.2%, meeting the technical requirements for mechanical weeding.

Investigation of Vessel Manoeuvring Abilities in Shallow Depths by Applying Neural Networks

A set of planar motion mechanism experiments of the Duisburg Test Case Post-Panamax container model executed in a towing tank with shallow depth is applied to train a neural network to analyse the ability of the proposed model to learn the effects of different depth conditions on ship’s manoeuvring capabilities. The motivation of the work presented in this paper is to contribute an alternative and effective approach to model non-linear systems through artificial neural networks that address the manoeuvring simulation of ships in shallow water. The system is developed using the Levenberg–Marquardt backpropagation training algorithm and the resilient backpropagation scheme to demonstrate the correlation between the vessel forces and the respective trajectories and velocities. Sensitivity analyses were performed to identify the number of layers necessary for the proposed model to predict the vessel manoeuvring characteristics in two different depths. The outcomes achieved with the proposed system have shown excellent accuracy and ability in predicting ship manoeuvring with varying depths of shallow water.

Enhancing Directional Droplet Transport via Surface Charge Gradient: Insights from Molecular Dynamics Simulations.

The phenomenon of spontaneous droplet transport has a wide range of implications in water collection, microfluidic manipulation, oil-water separation, and various other fields. Achieving efficient and controllable spontaneous droplet transport is therefore of paramount importance. This study investigates the potential of surface charge manipulation to enhance spontaneous droplet transport through comprehensive molecular dynamics simulations. Our findings reveal that the surface charge of the substrate significantly influences its wettability, reducing the contact angle of the droplet and increasing both the contact area and interaction energy. Moreover, we introduce a novel approach to enhance droplet mobility by creating a surface charge gradient on the substrate. By introducing bands with varying charges along a specific direction of the substrate, the droplet experiences a force directed toward regions of increasing charge, thereby facilitating its movement. Importantly, the driving mechanism of droplet motion is well explained by combining classical electrowetting theory with the analysis of the droplet's advancing and receding contact angles, which demonstrates that a more pronounced surface charge gradient generates greater force and enhances droplet mobility. These findings offer valuable insights into the design of microfluidic systems and related applications based on electrowetting.

Theoretical insights into rotary mechanism of MotAB in the bacterial flagellar motor

Many bacteria enable locomotion by rotating their flagellum. It has been suggested that this rotation is realized by the rotary motion of the stator unit, MotAB, which is driven by proton transfer across the membrane. Recent cryo-electron microscopy studies have revealed a 5:2 MotAB configuration, in which a MotB dimer is encircled by a ring-shaped MotA pentamer. Although the structure implicates the rotary motion of the MotA wheel around the MotB axle, the molecular mechanisms of rotary motion and how they are coupled with proton transfer across the membrane remain elusive. In this study, we built a structure-based computational model for Campylobacter jejuni MotAB, conducted comprehensive protonation-state-dependent molecular dynamics simulations, and revealed a plausible proton-transfer-coupled rotation pathway. The model assumes rotation-dependent proton transfer, in which proton uptake from the periplasmic side to the conserved aspartic acid in MotB is followed by proton hopping to the MotA proton-carrying site, followed by proton export to the CP. We suggest that, by maintaining two of the proton-carrying sites of MotA in the deprotonated state, the MotA pentamer robustly rotates by ∼36° per proton transfer across the membrane. Our results provide a structure-based mechanistic model of the rotary motion of MotAB in bacterial flagellar motors and provide insights into various ion-driven rotary molecular motors.

Study on aerodynamic and coupled motion response characteristics of floating vertical axis wind turbine

ABSTRACT To improve the efficiency of a floating VAWT (FVAWT), the aerodynamic and coupled motion response characteristics of 5MW Φ-type FVAWT are studied in fully coupled system. Based on the computational fluid dynamics (CFD) method, the dynamic fluid body interaction (DFBI), overlapping grid and dynamic mesh technique are adopted for numerical simulations. Under wind-wave coupling conditions, the power coefficient (Cp) and motion response of FVAWTs with different tip speed ratios (TSR) and height-todiameter ratios (η) are analysed. The mechanism of platform heave motion on torque Q generation of VAWT is explored. The results show that the FVAWT with height-to-diameter ratio of 1.2 and tip speed ratio of 5 has optimal aerodynamic and motion performance. Under the optimal tip speed ratio, the Cp of the offshore FVAWT is 5.21% higher than that of the land VAWT. As the floating platform rises, the torque of wind turbine decreased correspondingly, and vice versa.

The first magnetic resonance imaging compatible 3D printer

Background: The current study presents the development of a magnetic resonance imaging (MRI)-compatible silicone-based 3D printer capable of producing patient-specific implants within MRI scanners. Methods: The printing device incorporates 3 piezoelectrically-actuated linear motion stages assigned for navigating a custom-made silicone extruder to develop the desired 3D model based on preoperative MRI scans of the damaged anatomy. The structural components were manufactured on a rapid prototyping machine with thermoplastic and compactly assembled utilizing non-magnetic materials to ensure fit and safe functioning of the system within the MRI bore. Results: The printing system was successfully integrated with a high-field MRI scanner and operated safely while maintaining sufficient imaging quality. The robotic motion mechanism exhibited excellent repeatability and achieved submillimeter accuracy, demonstrating its capability for precise positioning of the extruder. Conclusion: The proposed 3D printer may hold promise as valuable tool for personalized tissue reconstruction by real-time printing with biocompatible silicone on the MRI table. However, challenges such as prolonged processing times and related high costs will possibly hinder its adoption in clinical practice.

Design and Simulation of an Innovative Modular Four-Bar Linkage Robotic Arm: Analysis and Applications

In response to the issues of traditional manipulators, such as difficulty in controlling the terminal posture during motion, low control precision, and complex structure, a modular mechanical arm based on a parallel four-bar terminal posture maintenance mechanism has been designed to meet the special requirements of terminal posture maintenance. By analyzing the motion mechanism of the manipulator, the shape space of the manipulator, the terminal position space, and the relationships of forward and inverse kinematics have been derived. A simulation model of the linkage manipulator was established in the Robotic Toolbook for Matlab environment, and structural simulation analysis and kinematic equation verification were conducted. The end positioning and attitude control of different manipulators are simulated by Matlab programming. The working space of the manipulators is calculated by Monte Carlo method, and compared with that of traditional planar manipulators. The results show the validity of the kinematics equation and the rationality of the end positioning control scheme of the linkage manipulator. Finally, the experiment verifies that the attitude retention rate of the modular decoupling manipulator is 97.78% under high load, which verifies the reliability of this scheme. In addition, the manipulator can simplify the complexity of the mechanical structure and complete the control requirements of the terminal attitude under the premise of increasing the working space as much as possible, which lays a foundation for the design and optimization of the manipulator in the field of modular terminal attitude.

Fe4N soft magnetic composite with ultra-low eddy current loss and excess loss above megahertz

In this study, Fe4N particles were synthesized from pure iron by gas nitridation and then fabricated into soft magnetic composite through silica-polyurethane insulation combined with warm compaction. The composite exhibits excellent soft magnetic properties in the several-megahertz frequency range. The complex permeability spectra of Fe4N composite show a remarkable frequency stability, with the real part remaining nearly constant below 100 MHz. The resonance frequencies of domain wall motion mechanism and spin rotation mechanism are up to 481 MHz and 2.24 GHz, respectively, which are ten times higher than those of Fe composite. Due to the effective suppression of both eddy current loss and excess loss, the total core loss decreases to 725.6 kw/m3 at 3000 kHz and 10 mT, exhibiting almost a linear growth with frequency. These outstanding properties are mainly due to the relatively large magnetocrystalline anisotropy and high resistivity of Fe4N particles. In addition, Fe4N composite also exhibits an excellent DC bias performance, maintaining over 98 % permeability under a superimposed magnetic field of 100 Oe. This study presents an effective solution for suppressing eddy current and excess losses at high frequencies, offering potential for the application of power inductors in high-frequency scenarios.

Iterative line laser scanning for full profile of polyhedral freeform prism

Polyhedral freeform surface prism is an important optical part, and the measurement of its full profile plays a crucial role in evaluating and improving its manufacturing process. One of the most suitable methods is to combine line laser scanning with multi-degree-of-freedom motion mechanisms to perform scanning measurements on polyhedral freeform surface prisms. Currently, when using line laser for measuring polyhedral freeform surface prisms, there are issues such as insufficient system degrees of freedom, unstable S/N (signal-to-noise ratio) of the light stripe, and high accuracy requirements for the measurement path, resulting in incomplete measurement results. To address the issue of insufficient system degrees of freedom, this paper establishes a five-axis-based line laser scanning system, ensuring measurement accuracy through system calibration. For the problem of unstable S/N of the light stripe in line laser measurement of freeform prisms, this paper proposes a method to evaluate the S/N of the light stripe and confirms the curve of S/N change with view angle through experiments on the measured surface. The optimal view angles for each surface are selected from this curve to obtain light stripe curves with higher S/N. Regarding the issue of increased accuracy requirements for the measurement path due to the view angle selection, this paper proposes an iterative measurement method. By pre-cognizing the part posture, the initial measurement path and results are obtained, and the part posture is iterated continuously based on the measurement results and model information to converge to the actual posture, thus obtaining a high-precision measurement path and achieving full-profile measurement of the part. Full-profile measurements and comparative experiments on standard spheres, flat prisms, and freeform prisms were conducted. Experimental results show that the measurement accuracy of the system can reach the level of 10 µm, and the measurement repeatability can reach the sub-micrometer level. The measurement area can be expanded by about 30% after several iterations, verifying the feasibility of the proposed view angle selection method and iterative measurement method.