Computer integrated work-space quality improvement of the C4 parallel robot CMM based on kinematic error model for using in intelligent measuring

Computer aided optimization and quality improvement of the performance of industrial machinery, without changing the original design, is one of the important challenges of intelligent manufacturing science, especially for robotic systems. In this paper, improving the performance of the new C4 robot serving as a coordinate measuring system (CMM) was considered. Since the efficiency of a robot is directly related to its work-space, calculating the quality improved work-space of this mechanism was studied. The new inverse and forward error models considering 48 error parameters were obtained using inverse kinematics. Afterward, a sensitivity analysis of the mechanism was implemented. Using the inverse kinematics and the discretization method, the work-space was calculated. Applying a new method, singularity tolerance, singular and quasi-singular points of the work-space were determined. In this proposal of a new computer integrated quality improvement algorithm, the work-space was investigated in various aspects including singularity, dexterity, and sensitivity analysis. The comparison between various indices for dexterity analysis was implemented and reliability and accuracy index was presented. Finally, the quality improved work-space was achieved without any physical changes to the structure. Selecting high-quality regions of work-space for operational intelligently can help to gain accurate results in industrial applications especially measuring tasks.