Research on measuring model for parallel robot coordinate measuring machine

Building measuring model of parallel robot coordinate measuring machine and finding its solutions are positional forward solution problem in parallel machine position analyzing, which is the foundation for its work space, control algorithm and measuring precision. In order to reduce the difficulty for building measuring model and finding its solution, a method of using assembly constraint and dimension driven function of CAD software is presented. Defining the length of actuating limbs as the driving dimensions and the pose parameters of the probe as the driven dimensions, the configuration of the simulation mechanism is varied correspondingly with the variation of the driving dimensions and the driven dimensions (the pose parameters of the probe) can be acquired and recorded. The results of computer simulation show that this method is not only straightforward and quick, but is also advantageous from viewpoint of accuracy and the highly efficient solution for other parallel robot coordinate measuring machine.