Metrology apparatus
A metrology apparatus includes an indexed articulated joint including: first and second relatively reorientable bodies, respectively having mutually engageable engagement elements, which can be locked together in different angular orientations about a first axis to provide a plurality of angularly indexed positions of the bodies; at least one verification sensor configured to provide a measure of the relative spatial configuration of bodies when in their locked state; and wherein the apparatus is configured such that when the bodies lock together at an indexed position, the sensor measures the relative spatial configuration of the bodies, and wherein information obtained from the measure is compared to calibration information obtained from at least one other measure of the relative spatial configuration of the bodies when the bodies were locked at said indexed position at an earlier point in time, in order to establish information about the state of engagement of the bodies.
1 . A metrology apparatus comprising an indexed articulated joint comprising:
first and second relatively reorientable bodies, respectively having mutually engageable engagement elements, which can be locked together in a plurality of different angular orientations about a first axis so as to provide for a plurality of angularly indexed positions of the first and second bodies;
at least one verification sensor configured to provide a measure of the relative spatial configuration of first and second bodies when in their locked state, and
wherein the apparatus is configured such that in the event of the first and second bodies locking together at an indexed position, the verification sensor is used to measure the relative spatial configuration of the first and second bodies, and wherein information obtained from said measure is compared to calibration information which was obtained from at least one other measure of the relative spatial configuration of the first and second bodies when the first and second bodies were locked at said indexed position at an earlier point in time, in order to establish information about the state of engagement of the first and second bodies.
2 . An apparatus as claimed in claim 1 , configured to react in a predetermined manner depending on the outcome of the aforementioned comparison.
3 . An apparatus as claimed in claim 2 , in which said reacting in a predetermined manner comprises causing the first and second bodies to unlock and relock at the same indexed position.
4 . An apparatus as claimed in claim 3 , which is configured to cause the first and second bodies to unlock and relock at the same indexed position if the comparison indicates that the current relative spatial configuration of the first and second bodies in the indexed position differs from a relative spatial configuration of the first and second bodies represented by the calibration information, by more than a predetermined threshold.
5 . An apparatus as claimed in claim 4 , in which the predetermined threshold is not more than 20 μm.
6 . An apparatus as claimed in claim 1 , in which the verification sensor comprises an encoder apparatus comprising a rotary scale provided on one of the first and second bodies, and at least one first readhead provided on the other of the first and second bodies to read the rotary scale.
7 . An apparatus as claimed in claim 6 , in which the verification sensor's encoder apparatus comprises a second readhead configured to read the scale.
8 . An apparatus as claimed in claim 7 , in which the second readhead is configured to read the scale at a location 90° apart from the location at which the at least one first readhead reads the scale.
9 . An apparatus as claimed in claim 6 , in which the verification sensor's encoder apparatus comprises an incremental encoder apparatus comprising an incremental scale having a series of periodic scale features.
10 . An apparatus as claimed in claim 6 , in which the verification sensor's encoder apparatus comprises an optical encoder apparatus.
11 . An apparatus as claimed in claim 1 , further comprising a motor for driving the first and second bodies about the first axis when unlocked.
12 . An apparatus as claimed in claim 1 , further comprising a primary encoder apparatus configured to monitor the relative rotational position of the first and second bodies about the first axis when unlocked.
13 . An apparatus claimed in claim 1 , in which the first body comprises a rotatable member which is configured to engage and be rotationally fixed relative to the second body when the first and second bodies are unlocked and rotated relative to each other.
14 . An apparatus as claimed in claim 12 , in which the primary encoder apparatus comprises a readhead on one of the first body and the member, and a scale on the other, such that the readhead provides a measurement of the relative rotational position of the first body and the member.
15 . An apparatus as claimed in claim 12 , configured to control the rotation of the first and second bodies when unlocked using the output of the primary encoder apparatus.
16 . An apparatus as claimed in claim 1 , in which the calibration information is stored in a look-up table.
17 . An apparatus as claimed in claim 1 , in which the calibration information is obtained from at least one other measure of the relative spatial configuration of the first and second bodies obtained by the verification sensor.
18 . An apparatus as claimed in claim 1 , in which the information obtained from said measure, is the current measure obtained by the verification sensor.
19 . An apparatus as claimed in claim 18 , in which the calibration information is a measure obtained by the verification sensor when the first and second bodies were locked at said indexed position at an earlier point in time.
20 . An apparatus as claimed in claim 1 , in which the apparatus comprises a probe head comprising the indexed articulated joint, the probe head being configured to support a measurement probe on a coordinate positioning apparatus such that the measurement probe can be arranged at a plurality of different indexed rotational orientations.
21 . An apparatus as claimed in claim 1 , comprising a memory device comprising the calibration information.
22 . An apparatus as claimed in claim 20 , in which the probe head comprises the memory device.
23 . A method of operating a metrology apparatus which comprises an indexed articulated joint comprising first and second bodies respectively having mutually engageable engagement elements, which can be locked together in a plurality of different angular orientations about a first axis so as to provide a plurality of angularly indexed positions at which the first and second bodies can be locked relative to each other, and at least one verification sensor configured to provide an output which is dependent on the relative spatial configuration of first and second bodies in their locked state, the method comprising;
causing the first and second bodies to lock together at an indexed position; taking a reading from the at least one verification sensor; and
comparing i) information at least derived from the reading to ii) calibration information which was at least derived from at least one other reading of the relative spatial configuration of the first and second bodies obtained by the verification sensor when the first and second bodies were locked at said indexed position at an earlier point in time.