摘要
提出了一种新型的"光束运动-光靶跟踪"激光跟踪测量方法,并在其理论基础上,研制开发了一种能够在水平和垂直被测对象表面运动的小型轮臂复合式激光制导测量机器人。该机器人机构融合了轮式机构、爬行臂式结构和真空吸附式机构的优点,并且具有质量轻、体积小、运动灵活和反应快速等特点,可以根据不同的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的灵活爬行和转向。对其运动特性进行了详细的分析,并利用激光跟踪仪和三坐标测量机对研制的激光制导测量机器人进行了性能测试。实验结果表明,机器人跟踪圆弧的测量精度为0.106 mm,跟踪直线的测量精度为0.094 mm,可自动高效地完成被测对象实体测量。
In order to perform Laser Tracker System（LTS） more efficiently and automatically, a new laser tracking measurement theory of ＂laser beam moving and SMR tracking＂ was proposed. The Laser Guided Measurement Robot （LGMR） technology was studied and a miniature wheel-armed LGMR system that can move on the horizontal and vertical surfaces of measured part was developed based on this theory. In combination of the merits of wheeled mechanism, armed mechanism and vacuum-obsorb mechanism, the LGMR system has many advantages of less weight, small volume, simple structure and quickly response. The LGMR also can change the measuring modes according different characteristics of parts to move on the horizontal surface with high speed and remote distance using wheeled system and to climb flexibly on the smooth inclined surface using crawling armed system. The moving characters of LGMR were analyzed in detail, analyzed results show that the measuring accuracy of LGMR is 0. 106 mm in tracking circle and 0. 094 mm in tracking straight line, which eon cludes that designed LGMR can track automatically laser beam and measure effectively the surfaces of given part.
出处
《光学精密工程》
EI
CAS
CSCD
北大核心
2008年第10期1901-1906,共6页
Optics and Precision Engineering
基金
国家自然科学基金资助项目(No.50475038)
关键词
激光制导
测量机器人
设计
运动特性
laser guiding measuring robot design moving character
