Kinematics and Workspace Analysis for Articulated Arm Coordinate Measuring Machine

Abstract

The kinematics and workspace for articulated arm coordinate measuring machine（AACMM）is the basis for structure optimization and precision analysis.First,the kinematics theory model of AACMM is established by using D-H method and tri-dimension kinematics simulation is implemented based on the secondary development of SolidWorks to verify whether the kinematics model is correct.Then the AACMM workspace is analyzed and simulated by Monte Carlo method and the cloud picture is obtained.Finally,the volume of workspace is calculated more accurately by the stratifying method and boundary extension,a basis for the parameter optimization is provided.The simulation results show sthat the workspace of AACMM is distributed uniformly and no cavity and it meets the measurement requirement.

Keywords

• Articulated arm coordinate measuring machine;Kinematics simulation;Workspace;Monte Carlo method;Secondary development