Research on novel hybrid structure AACMM based on 3-RPS parallel mechanism

Abstract The articulated arm coordinate measuring machine (AACMM), widely utilized in the field of industrial measurement, is assessed based on key performance indicators such as measurement accuracy, measurement space, and flexibility. To enhance these aspects of the AACMM, this paper introduces a novel type of AACMM. The new model is based on a 3-RPS (revolute joint R, prismatic joint P, spherical joint S) parallel mechanism (3-RPSPM). The working principle of the 3-RPSPM is detailed, and a corresponding computational model is established. An algorithm is proposed based on this mathematical model to determine the theoretical achievable accuracy of the 3-RPSPM. Additionally, a spatial error analysis of the 3-RPSPM is conducted to verify its compliance with AACMM accuracy requirements and to demonstrate a certain level of accuracy improvement. Through simulation analysis, the differences in measurement accuracy, measurement space, and flexibility between the new type of AACMM based on the 3-RPS parallel mechanism (3-RPSAACMM) and traditional AACMMs are compared. The results indicate that the 3-RPSAACMM, with its novel parallel structure free from series accumulation errors, not only maintains measurement flexibility but also achieves improvements in measurement accuracy and space. The hybrid structure adopted by the new 3-RPSAACMM offers a new direction for the future development of AACMMs, presenting significant research value and application prospects.