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Simulation, modelling and development of the metris RCA
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Thornby, John Albert, Attridge, Alex, Johnson, T., MacKay, Robert S., Sanders, R., Stott, C., Williams, M. A. and Young, Ken W. (2009) Simulation, modelling and development of the metris RCA. In: 25th Coordinate Metrology Society Conference, Louisville, Kentucky, 20-24 July 2009. Published in: CMSC Online Archive ISSN 2328-6075.
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Official URL: http://www.cmsc.org/cmsc-journal-archives
Abstract
In partnership with Metris UK we discuss the utilisation of modelling and simulation methods in the development of a revolutionary 7-axis Robot CMM Arm (RCA). An offline virtual model is described, facilitating pre-emptive collision avoidance and assessment of optimal placement of the RCA relative to scan specimens. Workspace accessibility of the RCA is examined under a range of geometrical assumptions and we discuss the effects of arbitrary offsets resulting from manufacturing tolerances. Degeneracy is identified in the number of ways a given pose may be attained and it is demonstrated how a simplified model may be exploited to solve the inverse kinematics problem of finding the “correct” set of joint angles. We demonstrate how the seventh axis may be utilised to avoid obstacles or otherwise awkward poses, giving the unit greater dexterity than traditional CMMs. The results of finite element analysis and static force modelling on the RCA are presented which provide an estimate of the forces exerted on the internal measurement arm in a range of poses.
| Item Type: | Conference Item (Paper) | ||||
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| Subjects: | Q Science > QA Mathematics T Technology > TA Engineering (General). Civil engineering (General) |
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| Divisions: | Faculty of Science > Mathematics Faculty of Science > WMG (Formerly the Warwick Manufacturing Group) |
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| Library of Congress Subject Headings (LCSH): | Robots -- Mathematical models , Robots -- Kinematics, Robots -- Motion | ||||
| Journal or Publication Title: | CMSC Online Archive | ||||
| Publisher: | Coordinate Metrology Society | ||||
| ISSN: | 2328-6075 | ||||
| Official Date: | July 2009 | ||||
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| Status: | Peer Reviewed | ||||
| Publication Status: | Published | ||||
| Access rights to Published version: | Restricted or Subscription Access | ||||
| Funder: | Technology Strategy Board (Great Britain) | ||||
| Conference Paper Type: | Paper | ||||
| Title of Event: | 25th Coordinate Metrology Society Conference | ||||
| Type of Event: | Conference | ||||
| Location of Event: | Louisville, Kentucky | ||||
| Date(s) of Event: | 20-24 July 2009 |
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