Single joint module angle error analysis and modelling of self-driving articulated arm coordinate measuring machine

Hongtao Yang; Mei Shen; Jingjing Cheng; Mengyao Zhang; Tingting Hu; Yi Hu

doi:10.1117/12.2612074

19 November 2021 Single joint module angle error analysis and modelling of self-driving articulated arm coordinate measuring machine

Hongtao Yang, Mei Shen, Jingjing Cheng, Mengyao Zhang, Tingting Hu, Yi Hu

Author Affiliations +

Proceedings Volume 12059, Tenth International Symposium on Precision Mechanical Measurements; 1205916 (2021) https://doi.org/10.1117/12.2612074
Event: Tenth International Symposium on Precision Mechanical Measurements, 2021, Qingdao, China

Abstract

The self-driving articulated arm coordinate measuring machine (AACMM) is a new type of flexible coordinate measuring equipment. The integrated joint module is introduced to the AACMM joint for self-driving control and measurement. The error source of the joint angle of the self-driving AACMM is analysed based on the internal components of the joint module, and single and comprehensive models of the single-joint module angle error are established. Numerical simulation and calibration experiment of torsion deformation angle error model of the single joint module are carried out. Results show that the angle error of each joint module includes the joint torsion deformation error, the angle error of the harmonic reducer, the angle measurement error of the magnetic encoder, and the error of the servo motor control system. The simulation error of the joint rotation angle shows a cosine variation trend under different loads, and the error fluctuation range is positively correlated with the load. The joint rotation angle calibration error shows a periodic variation, and the overall error fluctuation range is [-80.7 arcsec, 61.31arcsec]. The analysis and modelling calibration of the angle error of the AACMM single joint module offer an important theoretical foundation for the further research of the AACMM joint angle error compensation to improve the positioning and measurement accuracy of the measuring machine.

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Hongtao Yang, Mei Shen, Jingjing Cheng, Mengyao Zhang, Tingting Hu, and Yi Hu "Single joint module angle error analysis and modelling of self-driving articulated arm coordinate measuring machine", Proc. SPIE 12059, Tenth International Symposium on Precision Mechanical Measurements, 1205916 (19 November 2021); https://doi.org/10.1117/12.2612074

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KEYWORDS

Error analysis

Computer programming

Magnetism

Calibration

Modeling

Robots

Servomechanisms

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