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基于iGPS的复杂曲面三维形貌机器人柔性测量技术

Flexible Measurement Technology of Complex Curved Surface Three-Dimensional Shape Robot Based on iGPS

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摘要

针对工业机器人和形貌传感器组成的三维形貌机器人测量系统精度低的问题, 提出一种基于室内全局定位系统(iGPS)的三维形貌复杂曲面测量系统, 并介绍了该测量系统的总体设计方案, 建立了相应的数学模型。对长度测量精度和重复测量精度进行实验验证, 结果表明, 此测量系统在大型复杂曲面形貌测量中具有较高的精度及可靠性。对包含双拱形曲面的大尺寸工件进行形貌测量, 测量结果验证了此测量系统的可行性。

Abstract

Aiming at the low precision problem of the three-dimensional shape robot measurement system composed of industrial robots and topographic sensors, a three-dimensional shape complex curved surface measurement system based on iGPS (indoor global positioning system) is proposed. The overall design scheme of the proposed measurement system is introduced and a mathematical model is established for it. Experiments on length measurement accuracy and repeated measurement accuracy are carried out. The experimental results verify the accuracy and reliability of this measurement system for large-scale complex curved surface topography measurement. The shape measurement of large-sized workpiece with double arched surface is carried out. The measurement results verify the feasibility of this measurement system.

Newport宣传-MKS新实验室计划
补充资料

中图分类号:N34

DOI:10.3788/cjl201946.0304006

所属栏目:测量与计量

基金项目:吉林省科技发展计划(20160204016GX,20180623031TC)、吉林省省级产业创新专项资金(2016C088, 2017C045-2)、长春理工大学青年科学基金(XQNJJ-2016-04,XQNJJ-2017-11)、吉林省教育厅“十三五”科学技术项目(JJKH20170626KJ)

收稿日期:2018-09-29

修改稿日期:2018-10-15

网络出版日期:2018-10-22

作者单位    点击查看

刘丽:长春理工大学机电工程学院, 吉林 长春 130022
马国庆:长春理工大学机电工程学院, 吉林 长春 130022
高艺:长春理工大学机电工程学院, 吉林 长春 130022
王强:长春理工大学光电工程学院, 吉林 长春 130022

联系人作者:马国庆(magq@cust.edu.cn)

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引用该论文

Liu Li,Ma Guoqing,Gao Yi,Wang Qiang. Flexible Measurement Technology of Complex Curved Surface Three-Dimensional Shape Robot Based on iGPS[J]. Chinese Journal of Lasers, 2019, 46(3): 0304006

刘丽,马国庆,高艺,王强. 基于iGPS的复杂曲面三维形貌机器人柔性测量技术[J]. 中国激光, 2019, 46(3): 0304006

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