Optimization Design of Kinematics Performance of High-Speed Spatial Parallel Coordinate Measuring Machine

In order to improve kinematics performance of high-speed spatial PCMM(parallel coordinate measuring machine), the comprehensive dexterity coefficient, which are defined to evaluate the whole dexterity of various configurations, was applied to the kinematics performance optimization of PCMM. By analyzing three dexterity measures, including conditional number, the smallest singular value and operation of PCMM, the comprehensive dexterity coefficient was proposed. The influence law of the distribution position angle of the joints on the stationary platform and moving platform, the distribution position radius of the joints on the stationary platform and moving platform on the comprehensive dexterity coefficient were discussed. On these grounds, the distribution position angle of the joints on the stationary platform and moving platform, the distribution position radius of the joints on the stationary platform and moving platform were optimized. The simulation results show obvious improvement of the kinematics performance for PCMM, so that the powerful theoretical basis and method of optimization design for the PCMM are provided.