Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Skip to main content
Springer Nature Link
Log in

Kinematic parameter identification procedure of an articulated arm coordinate measuring machine based on a metrology platform

  • ORIGINAL ARTICLE
  • Published:
The International Journal of Advanced Manufacturing Technology Aims and scope Submit manuscript

Abstract

A still current challenge of paramount importance for manufacturing metrology is the industry and laboratories’ increasing demand for faster inspection and verification measuring procedures to determine the conformance of products to dimensional or functional requirements. Within this context, a measuring system group that has gained great importance in the field of high precision dimensional verification are the portable coordinate measuring machines (PCMMs) such as articulated arm coordinate measuring machine (AACMM). Nevertheless, an important drawback of these type of instruments are the time-consuming, tedious, and expensive tasks inherent to their verification and kinematic parameter identification procedures. In this work, a kinematic parameter identification procedure of an AACMM by means of an indexed metrology platform is presented. Moreover, the kinematic modeling of the AACMM is developed, and the optimization of the arm kinematic parameters to minimize the measurement error is carried out in terms of eight objective functions. Finally, a comparison between the optimized parameters and the nominal parameters is discussed, showing the advantages of using the indexed metrology platform (IMP) in the optimization procedure.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

References

  1. American Society of Mechanical Engineers, 2004 ASME B89.4.22-2004, methods for performance evaluation of articulated arm coordinate measuring machines. New York, NY, USA, pp. 1–45

  2. Verein Deutscher Ingenieure, 2009VDI/VDE 2617 part 9, acceptance and reverification test for articulated arm coordinate measuring machines. pp. 1–20,

  3. International Organization for Standardization (2016) ISO 10360-12:2016 geometrical product specifications (GPS) -- acceptance and reverification tests for coordinate measuring systems (CMS) -- part 12: articulated arm coordinate measurement machines (CMM). In: Geneva (Switzerland)

    Google Scholar 

  4. Brau-Avila A, Santolaria J, Acero R, Valenzuela-Galvan M, Herrera-Jimenez VM, Aguilar JJ (2017) Mathematical calibration procedure of a capacitive sensor-based indexed metrology platform. Meas Sci Technol 28(3):035008

    Article  Google Scholar 

  5. Acero R, Brau A, Santolaria J, Pueo M (2017) Evaluation of a metrology platform for an articulated arm coordinate measuring machine verification under the ASME B89.4.22-2004 and VDI 2617_9-2009 standards. J Manuf Syst 42:57–68

    Article  Google Scholar 

  6. Marxer M, Rocha L, Anwer N, Savio E (2018) New development and distribution concepts for education in coordinate metrology. Procedia CIRP 75:320–324

    Article  Google Scholar 

  7. Bauza MB, Tenboer J, Li M, Lisovich A, Zhou J, Pratt D, Edwards J, Zhang H, Turch C, Knebel R (2018) Realization of industry 4.0 with high speed CT in high volume production. CIRP J Manuf Sci Technol 22:121–125

    Article  Google Scholar 

  8. Santolaria J, Brau A, Velázquez J, Aguilar JJ (May 2010) A self-centering active probing technique for kinematic parameter identification and verification of articulated arm coordinate measuring machines. Meas Sci Technol 21(5):055101

    Article  Google Scholar 

  9. Piratelli-Filho A, Lesnau GR (Feb. 2010) Virtual spheres gauge for coordinate measuring arms performance test. Measurement 43(2):236–244

    Article  Google Scholar 

  10. Piratelli-Filho A, Fernandes FHT, Arencibia RV (2012) Application of virtual spheres plate for AACMMs evaluation. Precis Eng 36:349–355

    Article  Google Scholar 

  11. Zhao H, Yu L, Xia H, Li W, Jiang Y, Jia H (2018) 3D artifact for calibrating kinematic parameters of articulated arm coordinate measuring machines. Meas Sci Technol 29(6):065009

    Article  Google Scholar 

  12. González-Madruga D, Cuesta E, Patiño H, Barreiro J, Martinez-Pellitero S (2013) Evaluation of AACMM using the virtual circles method. Procedia Eng 63:243–251

    Article  Google Scholar 

  13. Cuesta E, González-Madruga D, Alvarez BJ, Barreiro J (Jun. 2014) A new concept of feature-based gauge for coordinate measuring arm evaluation. Meas Sci Technol 25(6):065004

    Article  Google Scholar 

  14. Cuesta E, Telenti A, Patiño H, González-Madruga D, Martínez-Pellitero S (2015) Sensor prototype to evaluate the contact force in measuring with coordinate measuring arms. Sensors 15(6):13242–13257

    Article  Google Scholar 

  15. Luo Z, Liu H, Li D, Tian K (2018) Analysis and compensation of equivalent diameter error of articulated arm coordinate measuring machine. Meas Control 51(1–2):16–26

    Article  Google Scholar 

  16. El Asmai S, Hennebelle F, Coorevits T, Vincent R, Fontaine J-F (Nov. 2018) Rapid and robust on-site evaluation of articulated arm coordinate measuring machine performance. Meas Sci Technol 29(11):115011

    Article  Google Scholar 

  17. K. Ostrowska, A. Ga, R. Kupiec, K. Gromczak, P. Wojakowski, and J. Sładek,2019 Comparison of accuracy of virtual articulated arm coordinate measuring machine based on different metrological models, vol. 133, pp. 262–270

  18. Cheng L, Wang W, Weng Y, Shi G, Yang H, Lu K (2018) A novel kinematic parameters identification method for articulated arm coordinate measuring machines using repeatability and scaling factor. Math Probl Eng 2018:1–10

    Google Scholar 

  19. Sultan I a, Puthiyaveettil P (2012) Calibration of an articulated CMM using stochastic approximations. Int J Adv Manuf Technol 63(1–4):201–207

    Article  Google Scholar 

  20. Gao G, Zhang H, San H, Wu X, Wang W (2017) Modeling and error compensation of robotic articulated arm coordinate measuring machines using BP neural network. Complexity 2017:1–8

    MathSciNet  MATH  Google Scholar 

  21. Gao G, Zhang H, Wu X, Guo Y (2016) Structural parameter identification of articulated arm coordinate measuring machines. Math Probl Eng 2016(1):10

    Google Scholar 

  22. Gao G, Zhao J, Na J (2018) Decoupling of kinematic parameter identification for articulated arm coordinate measuring machines. IEEE Access 6:50433–50442

    Article  Google Scholar 

  23. Romdhani F, Hennebelle F, Ge M, Juillion P (2014) Methodology for the assessment of measuring uncertainties of articulated arm coordinate measuring machines. Meas Sci Technol 25(12):15

    Article  Google Scholar 

  24. Dupuis J, Holst C, Kuhlmann H (2017) Improving the kinematic calibration of a coordinate measuring arm using configuration analysis. Precis Eng 50:171–182

    Article  Google Scholar 

  25. Benciolini B, Vitti A (2017) A new quaternion based kinematic model for the operation and the identification of an articulated arm coordinate measuring machine inspired by the geodetic methodology. Mech Mach Theory 112:192–204

    Article  Google Scholar 

  26. Acero R, Santolaria J, Brau A, Pueo M (2016) Virtual distances methodology as verification technique for AACMMs with a capacitive sensor based indexed metrology platform. Sensors 16(11):18

    Article  Google Scholar 

  27. Acero R, Brau A, Santolaria J, Pueo M (2015) Verification of an articulated arm coordinate measuring machine using a laser tracker as reference equipment and an indexed metrology platform. Measurement 69:52–63

    Article  Google Scholar 

  28. Acero R, Santolaria J, Pueo M, Abad J (2016) Uncertainty estimation of an indexed metrology platform for the verification of portable coordinate measuring instruments. Measurement 82:202–220

    Article  Google Scholar 

  29. Judd RP, Knasinski AB (1990) A technique to calibrate industrial robots with experimental verification. IEEE Trans Robot Autom 6(1):20–30

    Article  Google Scholar 

  30. Denavit J, Hartenberg RS (1955) A kinematic notation for lower pair mechanisms based on matrices. J Appl Mech ASME 77:215–221

    MathSciNet  MATH  Google Scholar 

  31. Avila A, Mazo J, Martín J (Jan. 2014) Design and mechanical evaluation of a capacitive sensor-based indexed platform for verification of portable coordinate measuring instruments. Sensors 14(1):606–633

    Article  Google Scholar 

  32. Sun Y, Hollerbach JM (2008) Observability index selection for robot calibration. Proc IEEE Int Conf Robot Autom:831–836

Download references

Funding

This work is supported by Consejo Nacional de Ciencia y Tecnología (Concayt) of México. This work was supported by the DICON Innpacto Project (IPT-2011-1191-020000), Development of New Advanced Dimensional Control Systems in Manufacturing Processes of High-Impact Sectors, by the Ministerio de Economía y Competitividad of the Spain Government.

Author information

Authors and Affiliations

  1. Department of Industrial Engineering, University of Sonora, Blvd. Luis Encinas y Rosales S/N, Col. Centro, Hermosillo, Sonora, Mexico

    A. Brau-Avila & M. Valenzuela-Galvan

  2. Department of Design and Manufacturing Engineering, Universidad de Zaragoza, María de Luna 3, 50018, Zaragoza, Spain

    R. Acero & J. Santolaria

  3. Instituto de Investigación en Ingeniería de Aragón (I3A), 50018, Zaragoza, Spain

    J. Santolaria

  4. Centro Nacional de Metrología, CENAM, el Marqués, Mexico

    Octavio Icasio-Hernández

Authors
  1. A. Brau-Avila
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. R. Acero
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. J. Santolaria
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. M. Valenzuela-Galvan
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Octavio Icasio-Hernández
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to A. Brau-Avila.

Additional information

Publisher’s note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Brau-Avila, A., Acero, R., Santolaria, J. et al. Kinematic parameter identification procedure of an articulated arm coordinate measuring machine based on a metrology platform. Int J Adv Manuf Technol 104, 1027–1040 (2019). https://doi.org/10.1007/s00170-019-03878-w

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00170-019-03878-w

Keywords

Search

Navigation