Novel kinematic model of articulated arm coordinate measuring machine with angular position measurement errors of rotary axes

The measurement accuracy of an articulated arm coordinate measuring machine (AACMM) is determined by its kinematic model to estimate the end effector position from angular positions of rotary axes. In conven-tional studies, the Denavit-Hartenberg (DH) model, containing position and orientation errors of the rotary axis average lines as error sources, has been widely employed. This study first proposes a novel kinematic model including angular position measurement errors of rotary axes. To identify the proposed model, a new Single Point Articulation Test (SPAT) setup is presented with the R-Test to measure the stylus sphere's three-dimensional displacement. The prediction accuracy of the proposed model is experimentally evaluated.& COPY; 2023 CIRP. Published by Elsevier Ltd. All rights reserved.