光靶自动跟踪装置结构设计

Structural design of optical tracker for LGMR

在分析激光制导测量机器人技术和原理基础上,提出一种具有两自由度的光靶自动跟踪装置结构方案,介绍了光靶自动跟踪原理及特点并建立了三维数学模型。重点对光靶自动跟踪装置的机械结构进行了分析及设计,并对某些重要构件进行了强度校核,最后研制出光靶自动跟踪装置。光靶自动跟踪装置能够按照要求完成方位和俯仰运动,实现了对测量激光束的自动跟踪,不仅解决了测量过程中掉光现象,同时降低了激光束入射角度引起的测量误差,也验证了光靶自动跟踪装置结构方案的正确性和有效性。

In this paper,the research work to develop an optical tracker for a newly developed Laser Guidance Measuring Robot(LGMR) is described.Based on the principle and analysis of LGMR,the optical tracker with two DOFs is presented and introduced.The 3D model is established as well.Analysis and design are made in emphasis on the structure of optical tracker.Finally,the optical tracker was made and joined to the body to assemble a mobile robot.The results show that the optical tracker is practical and can track the laser beam automatically and effectively,and also prove the correctness of the method.