Towards a haptic virtual coordinate measuring machine

In this paper, a novel coordinate measuring machine (CMM) inspection path planning environment, named haptic virtual coordinate measuring machine (HVCMM), is proposed, which makes use of haptic modeling technique for CMM off-line programming. HVCMM is an accurate model of real CMM, simulating a CMM’s operation and its measurement process in a virtual environment with haptic perception. It enables CMM off-line programming to take place exactly as if an operator were in front of a real CMM and moving a real CMM probe. To generate the inspection path of a part, teach pendant programming is made by pointing a probe at the 3D computer-aided design (CAD) model of a part using a haptic device. With the HVCMM system, it is much easier to generate collision-free probe path than using other off-line inspection planning methods. Furthermore, when a contact occurs between the CMM and the object, a force is generated based on a proposed mechanics model besides visually showing the contact in the HVCMM environment. Surface voxel is used for quick collision detection. The HVCMM not only facilitates the inspection path planning, but also speeds it up. The proposed HVCMM can also be used for the training of CMM operation.