Position uncertainty distribution for articulated arm coordinate measuring machine based on simplified definite integration

This paper describes a methodology for the position uncertainty distribution of an articulated arm coordinate measuring machine (AACMM). First, a model of the structural parameter uncertainties was established by statistical method. Second, the position uncertainty space volume of the AACMM in a certain configuration was expressed using a simplified definite integration method based on the structural parameter uncertainties; it was then used to evaluate the position accuracy of the AACMM in a certain configuration. Third, the configurations of a certain working point were calculated by an inverse solution, and the position uncertainty distribution of a certain working point was determined; working point uncertainty can be evaluated by the weighting method. Lastly, the position uncertainty distribution in the workspace of the ACCMM was described by a map. A single-point contrast test of a 6-joint AACMM was carried out to verify the effectiveness of the proposed method, and it was shown that the method can describe the position uncertainty of the AACMM and it was used to guide the calibration of the AACMM and the choice of AACMM's accuracy area.