基于双全站仪的中子谱仪样品台位姿标定方法

Calibration Scheme of Neutron Spectrometer Sample Table Position Based on Dual Total Station

中子谱仪样品台是实现样品上待测量点精确移动到衍射点并实现待测量矢量与Q散射矢量对齐的功能,从而进行残余应力测量。提出了一种基于双全站仪的位姿标定方案来实现样品台的以上功能,采用双全站仪测量系统和便携式激光扫描臂系统对各个坐标系进行标定。分别设计了样品坐标系、四轴样品台坐标系、中子谱仪衍射坐标系和全站仪坐标系的标定方案,并精确地设计了基于基准球的标定方案,由刚体变换法求得样品坐标系和全站仪坐标系之间的位姿转换矩阵,对样品上待测量点进行运动求解得到样品台的运动指令,并进行了实验验证。实验结果表明该方案能实现待测量点精确移动到衍射点,使待测量矢量与Q散射矢量对齐。

The neutron spectrometer sample stage performs the functions of accurately moving the point to be measured on the sample to the diffraction point and aligning the vector to be measured with the Q scattering vector, thereby performing residual stress measurement. A position calibration scheme based on dual total station is proposed to realize the above functions of the sample stage. The coordinate system is calibrated by the dual total station measurement system and the portable laser scanning arm system. The calibration schemes of the sample coordinate system, the four-axis sample stage coordinate system, the neutron spectrometer diffraction coordinate system and the total station coordinate system were designed, and the calibration scheme based on the reference sphere was designed accurately. The pose transformation matrix between the sample coordinate system and the total station coordinate system was obtained by the rigid body transformation method. The point to be measured on the sample was solved by the motion, and the experimental verification was carried out. The results show that the scheme can accurately move the point to be measured to the diffraction point, and align the vector to be measured with the Q scattering vector.