Feasibility of Coordinate Measuring System Based on Wire Driven Robot
The coordinate measuring machine systems (CMMS) are widely used for part inspections in manufacturing plants, which mostly include bridge CMMS and horizontal CMMS driven by motor and portable CMMS operated manually. Wire-driven parallel kinematic manipulators (PKMs) have advantag-es of flexibility, accuracy and large workspace. This paper investigates the fea-sibility of the coordinate measuring system based on wire-driven PKM. The forward and inverse position solutions are obtained by MATLAB simulation through the kinematic analysis of the manipulator. The controllable workspace with tension conditions and stiffness conditions are obtained by means of the static analysis. Analysis results show that the manipulator have high precision, high speed and large workspace, these advantages just meet the measure requirements of coordinate measuring systems. Finally, a primary experiment is presented to show that the measuring platform of this manipulator can move smoothly and its measurement error is relatively low. The feasibility of taking the wire-driven PKM as coordinate measuring system has been validated by theoretical and experimental study. This research maybe lays a foundation for the further application of wire-driven PKM in the field of coordinate measuring.
Wire-driven parallel kinematic manipulators (PKMs) Coordinatemeasuring system Feasibility.
Ji-Hui Zhou Qing-Song Cao Fa-Xiong Sun Lan Bi
College of Mechanical and Electrical Engineering, East China Jiaotong University,Nanchang 330013, China
国际会议
南昌
英文
450-459
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）