Title :
A coordinate measuring machine with parallel mechanisms
Author :
Zhuang, Hanqi ; Wang, Yingli
Author_Institution :
Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Abstract :
Widely used in manufacturing industry, coordinate measuring machines(CMM) are traditionally designed with a serial structure, which is composed of a serial chain of three mutually perpendicular prismatic joints to achieve three degrees of freedom in motion. There exist some shortcomings such as error accumulation and low stiffness in this kind of structure. This paper introduces a CMM with a parallel structure, which is more accurate and robust compared to the serial one, and studies some important issues in designing and developing this type of CMM, including the closed-form forward and inverse solutions, workspace analysis, and system calibration
Keywords :
computerised instrumentation; industrial manipulators; robot kinematics; spatial variables measurement; CMM; closed-form solutions; coordinate measuring machine; error accumulation; low stiffness; manufacturing industry; mutually perpendicular prismatic joints; parallel mechanisms; parallel structure; serial chain; serial structure; system calibration; workspace analysis; Calibration; Coordinate measuring machines; Electric variables measurement; Leg; Motion measurement; Parallel robots; Probes; Ring lasers; Robot kinematics; Service robots;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606785
