Joint module angle error analysis and modelling of self-driven articulated arm coordinate measuring machine

Mei, Shen; Cheng, Jingjing; Zhang, Mengyao; Hu, Tingting; Hu, Yi

doi:10.1007/s12206-022-1144-0

Cited by 2 publications

(3 citation statements)

References 20 publications

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“…No.19 and 20 are probe mounting base and LP Trigger probes respectively. The self-driven AACMM introduces the integrated joint modules [32] to each rotary joint for realizing self-driven control and automatic measurement. The internal structure of the joint module is shown in figure 1(b), which integrates servo motors, harmonic reducers, magnetic encoders, and other components.…”

Section: Structural Principalmentioning

confidence: 99%

“…The modeling study of the joint module angle error caused by the above-mentioned error sources was detailed in previous studies [32], and the modeling results of the integrated joint module angle error are directly quoted in this paper. The joint angle error models caused by harmonic reducer, magnetic encoder, and servo motor encoder are shown in equations ( 33)-( 33) respectively…”

Section: Dynamic Torsional Deformation Error Of Rotary Jointmentioning

confidence: 99%

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Dynamic error modeling and analysis of articulated arm coordinate measuring machine with integrated joint module

Shen,

Yang,

Chang

et al. 2024

Meas. Sci. Technol.

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The self-driven articulated arm coordinate measuring machine (AACMM) is a new non-orthogonal flexible coordinate measuring equipment providing automatic positioning and measurement with integrated joint modules introduced to its rotary joints. The dynamic measuring accuracy is the crucial indicator of the self-driven AACMM performance. However, the part manufacturing assembly error and structural dynamic deformation error will seriously reduce the dynamic measuring accuracy. Therefore, a modeling compensation approach based on error propagation and accumulation mechanism analysis of the above two aspects is necessarily required to preserve the automatic measuring accuracy of the self-driven AACMM. In this paper, the authors propose an innovative modeling method for evaluating and compensating for the dynamic measuring errors of the self-driven AACMM. The ideal measuring model is constructed assisted with on the classical Denavit-Hartenberg parameter methodology and the complex structure of the self-driven AACMM. The source and its propagation mechanism of the dynamic error from the self-driven AACMM were analyzed systematically to decouple the superposed error impact on measuring precision. The dynamic measurement error compensation mechanism model is presented considering the influence of instantaneous spatial attitude on the dynamic structural parameters of self-driven AACMM. Experimental results indicate that the single-point repeatability measurement error fluctuation of the self-driven AACMM is 0.046 mm. The radius measuring error of the gauge ball reduces from − 0.26 mm to −0.19 mm after the error model compensation. Additionally, the measuring accuracy is demonstrated to be effectively improved by the dynamic error compensation mechanism model.

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Section: Structural Principalmentioning

confidence: 99%

Section: Dynamic Torsional Deformation Error Of Rotary Jointmentioning

confidence: 99%

Dynamic error modeling and analysis of articulated arm coordinate measuring machine with integrated joint module

Shen,

Yang,

Chang

et al. 2024

Meas. Sci. Technol.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Due to errors in the manufacturing and installation of the double-finger flexible manipulator, there is a deviation between the actual clamping state and the measured value. 19,20 Therefore, before the experiment, the measured dimensions are substituted into the corresponding calculation formula and corrected.…”

Section: Control System Of Double-finger Flexible Manipulatormentioning

confidence: 99%

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

Li,

Chen

2024

Science Progress

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Aiming at the flexible manipulator grasping complex target parts of different shapes, a double-finger flexible manipulator model is proposed. The manipulator is composed of a flexible mechanical finger, a driving component and a position compensation mechanism. It imitates the motion characteristics of human finger joints and follows the principle of double-fingered grasping. According to the structural characteristics of the target contour, the grasping features of the target contour are extracted. Through the motion principle of the flexible manipulator, the kinematic model of the envelope clamping process of the manipulator target is carried out. Finally, the flexible manipulator experimental platform is built to verify the grasping characteristics of the flexible manipulator target. The results show that the manipulator can realize the adaptive grasping of cylinder and cuboid parts, which have high grasping reliability and stability.

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Joint module angle error analysis and modelling of self-driven articulated arm coordinate measuring machine

Cited by 2 publications

References 20 publications

Dynamic error modeling and analysis of articulated arm coordinate measuring machine with integrated joint module

Dynamic error modeling and analysis of articulated arm coordinate measuring machine with integrated joint module

Research on the grasping characteristics of composite-driven double-finger flexible manipulator

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