Design and Validation of a Self-Driven Joint Model for Articulated Arm Coordinate Measuring Machines

Resumen

Articulated arm coordinate measuring machines (AACMMs) have been developed and applied in industrial measurement fields for more than 30 years. Manual operation is typically required during measurement, which introduces uncertain influences, such as fluctuation of measurement force, speed, and acceleration, and leads to poor reliability and reproducibility. In this paper, a novel self-driven joint model is proposed to realize automatic measurement for AACMMs. A self-driven joint is designed by combining the joint of an AACMM with a robotic arm to realize automatic rotation. A self-driven AACMM is designed using three rolling joints and three pitching joints with assigned parameters. A virtual prototype of the self-driven AACMM is established using the Adams software to simulate the driving moment of each joint. The simulation results demonstrate that the designed mechanical structure and selected devices can meet the preset requirements. Additionally, based on the proposed model, a single physical joint is developed and assembled for performance testing. Experimental results demonstrate that the model can achieve a repeatability of 1.39? (k = 2) when the rotational velocity is less than 1.53 rad/s. Therefore, the proposed design is suitable for use in AACMMs.