Open AccessSuggestion on using the hexapod robot as a coordinate measuring machine in digitizing data and measuring space surfaces
Author(s) -
ThanhTrung Trang,
Thi-Thu-Thuy Le,
ThanhLong Pham
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1707/1/012028
Subject(s) - hexapod , workspace , kinematics , computer science , correctness , trajectory , serial manipulator , inverse kinematics , software , robot , smt placement equipment , control engineering , cartesian coordinate system , point (geometry) , parallel manipulator , simulation , artificial intelligence , algorithm , engineering , mathematics , geometry , physics , classical mechanics , astronomy , programming language
Testing or digitizing the machined surface in inverse manufacturing always requires the use of modern, interconnected measuring devices, and these devices share tool control programs with probe trajectory to check 3D surfaces through CAM software. Coordinate measuring machines with a large workspace need very rigid mechanical structures and parallel structures used instead are one of the solutions to this problem. Despite the extremely high stiffness, the characteristics of the parallel structure are of compound design and kinematics. One of the typical difficulties is that the forward and inverse kinematic problems have many solutions. When used as a measuring machine, solving the kinematic problem is often required. If there are not enough bases to unique identify the endpoint coordinates, the application of robots such as hexapods to make CMM machines will fail. This paper introduces a technical solution to achieve a unique solution when solving a forward kinematic problem using a hexapod device. The sensors are mounted on the device to recognize the generalized coordinates and the auxiliary parameters at the same time, then the unique solution of the problem will be determined. The illustrative application on the parallel structure of the S R S and S P S hexapod configuration shows the correctness of the research idea.