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