• CN:11-2187/TH
  • ISSN:0577-6686

›› 2008, Vol. 44 ›› Issue (9): 117-122.

• 论文 • 上一篇    下一篇

激光制导测量机器人系统设计及运动学分析

刘万里;欧阳健飞;曲兴华;闫勇刚   

  1. 天津大学精密测试技术及仪器国家重点实验室;河南理工大学精密工程研究所
  • 发布日期:2008-09-15

Design and Kinematics Analysis of Laser Guided Measurement Robot System

LIU Wanli;OUYANG Jianfei;QU Xinghua;YAN Yonggang   

  1. State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University Precision Engineering Institute, Henan Polytechnic University
  • Published:2008-09-15

摘要: 提出新型“光束运动—光靶跟踪”激光跟踪测量方法,并在此方法基础上研究激光制导测量机器人技术,研制并开发一种能够在水平和垂直被测对象表面上运动的小型轮臂复合式激光制导测量机器人系统。该机器人机构融合轮式机构、爬行臂式结构和真空吸附式机构的优点,具有重量轻、体积小、运动灵活和反应快速等特点,可以根据不同被测对象表面特征变换测量模式,利用轮式结构实现机器人在水平被测表面上高速远距离运动,利用爬行臂式和真空吸附式机构实现机器人在倾斜光滑表面上灵活地爬行和转向。建立机器人的运动学模型并对其运动特性进行分析,利用激光跟踪仪和三坐标测量机对研制激光制导测量机器人进行性能测试,试验结果不仅证明了该机器人能够跟踪激光束自动高效地完成被测对象实体测量,同时也验证了所建模型的有效性和正确性。

关键词: 测量机器人, 激光跟踪测量, 激光制导, 轮臂复合式, 运动学

Abstract: A new laser tracking measurement method of “laser beam moving and SMR tracking” is proposed. The laser guided measurement robot (LGMR) technology is studied and a miniature wheel-armed LGMR system is developed based on this method, which can move on the horizontal and vertical surfaces of measured part. The LGMR system combines the merits of wheeled mechanism, armed mechanism and vacuum adsorption mechanism, and possesses many advantages, such as less weight, small volume, flexible movement and quick response. LGMR can change the measuring modes according to different characteristics of parts, it moves on the horizontal surface with high speed and remote distance by using wheeled system, and climbs flexibly on the smooth inclined surfaces by using crawling armed system. The kinematics modes of LGMR are established, and the motion characteristics of LGMR are analyzed. The Faro SI laser tracker and Hexagon Globle9128 coordinate measuring machine (CMM) are used to test the performance of LGMR. The experimental results not only show that the LGMR can track laser beam and automatically and effectively measure the surfaces of given part, but also prove the effectiveness and correctness of this kinematics model.

Key words: Kinematics, Laser guided, Laser tracking measurement, Measurement robot, Wheel-armed

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