The Structure Design of a Micro-precision CMM with Abbé Principle

Fan, Kuang‐Chao; Liu, C. L.; Wu, Po‐Ting; Chen, Yang Ching; Wang, W. L.

doi:10.1007/978-1-84628-988-0_67

Cited by 8 publications

(6 citation statements)

References 5 publications

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“…By putting different weights on the loading frame, we can apply different loads to the measuring rod and measure its vertical and horizontal TCP offset under the load. The TCP offset measurement method satisfies the Abbe measuring principle [23] and eliminates errors caused by rotation of the loading plate. Moreover, a correction factor r is defined to characterize the difference between the FEA-simulated stiffness and the measured stiffness:…”

Section: Determination Of Rod Compliance Coefficientsmentioning

confidence: 97%

An Improved Design of the MultiCal on-site Calibration Device for Industrial Robots

Wan¹,

Zhou²,

Lin³

et al. 2023

Preprint

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MultiCal is an affordable, high-precision measuring device designed for the on-site calibration of industrial robots. Its design features a long measuring rod with a spherical tip that is attached to the robot. By restricting the rod’s tip to multiple fixed points under different rod orientations, the relative positions of these points are accurately measured beforehand. A common issue with MultiCal is the gravity deformation of the long measuring rod, which introduces measurement errors into the system. This problem becomes especially serious when calibrating large robots, as the length of the measuring rod needs to be increased to enable the robot to move in a sufficient space. To address this issue, we propose two improvements in this paper. Firstly, we suggest the use of a new design of the measuring rod that is lightweight yet has high rigidity. Secondly, we propose a deformation compensation algorithm. Experimental results have shown that the new measuring rod improves calibration accuracy by 20% to 39%, while by using the deformation compensation algorithm, the accuracy increases by 6% to 16%. In the best configuration, the calibration accuracy is similar to that of a measuring arm with a laser scanner, producing an average positioning error of 0.274 mm and a maximum positioning error of 0.838 mm. The improved design is cost-affordable, robust, and has sufficient accuracy, making MultiCal a more reliable tool for industrial robot calibration.

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Section: Determination Of Rod Compliance Coefficientsmentioning

confidence: 97%

An Improved Design of the MultiCal on-site Calibration Device for Industrial Robots

Wan¹,

Zhou²,

Lin³

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…The moving component and grating scale are equipped at the working table to reduce the Abbe offset. Those micro-CMMs would also pay attention to the structure for reducing the Abbe error [48,49]. For those machines, which do not conform to the Abbe principle, researchers proposed methods for modeling and compensation for Abbe error [50], which is similar to the modeling of geometric errors.…”

Section: Other Errormentioning

confidence: 99%

Surface form inspection with contact coordinate measurement: a review

Shen

Ren

Huang

et al. 2023

Int. J. Extrem. Manuf.

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Parts with high-quality freeform surfaces have been widely used in industries, which require strict quality control during the manufacturing process. Among all the industrial inspection methods, contact measurement with coordinate measuring machines or computer numerical control machine tool is a fundamental technique due to its high accuracy, robustness, and universality. In this paper, the existing research in the contact measurement field is systematically reviewed. First, different configurations of the measuring machines are introduced in detail, which may have influence on the corresponding sampling and inspection path generation criteria. Then, the entire inspection pipeline is divided into two stages, namely the pre-inspection and post-inspection stages. The typical methods of each sub-stage are systematically overviewed and classified, including sampling, accessibility analysis, inspection path generation, probe tip radius compensation, surface reconstruction, and uncertainty analysis. Apart from those classical research, the applications of the emerging deep learning technique in some specific tasks of measurement are introduced. Furthermore, some potential and promising trends are provided for future investigation.

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“…By putting different weights on the loading frame, we can apply different loads to the measuring rod and measure its vertical and horizontal TCP offset under the load. The TCP offset measurement method satisfies the Abbe measuring principle [ 23 ] and eliminates errors caused by rotation of the loading plate.…”

Section: Study Of the Measuring Rod’s Deformationmentioning

confidence: 99%

An Improved Design of the MultiCal On-Site Calibration Device for Industrial Robots

Wan

Zhou

Lin

et al. 2023

Sensors

View full text Add to dashboard Cite

MultiCal is an affordable, high-precision measuring device designed for the on-site calibration of industrial robots. Its design features a long measuring rod with a spherical tip that is attached to the robot. By restricting the rod’s tip to multiple fixed points under different rod orientations, the relative positions of these points are accurately measured beforehand. A common issue with MultiCal is the gravitational deformation of the long measuring rod, which introduces measurement errors into the system. This problem becomes especially serious when calibrating large robots, as the length of the measuring rod needs to be increased to enable the robot to move in a sufficient space. To address this issue, we propose two improvements in this paper. Firstly, we suggest the use of a new design of the measuring rod that is lightweight yet has high rigidity. Secondly, we propose a deformation compensation algorithm. Experimental results have shown that the new measuring rod improves calibration accuracy from 20% to 39%, while using the deformation compensation algorithm, the accuracy increases from 6% to 16%. In the best configuration, the calibration accuracy is similar to that of a measuring arm with a laser scanner, producing an average positioning error of 0.274 mm and a maximum positioning error of 0.838 mm. The improved design is cost-affordable, robust, and has sufficient accuracy, making MultiCal a more reliable tool for industrial robot calibration.

show abstract

The Structure Design of a Micro-precision CMM with Abbé Principle

Cited by 8 publications

References 5 publications

An Improved Design of the MultiCal on-site Calibration Device for Industrial Robots

An Improved Design of the MultiCal on-site Calibration Device for Industrial Robots

Surface form inspection with contact coordinate measurement: a review

An Improved Design of the MultiCal On-Site Calibration Device for Industrial Robots

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