基于点云匹配的高铁车轮检测机械臂运动仿真研究

Motion Simulation of Inspecting Robot Arm for High-Speed Rail Wheels Based on Point Cloud Matching

针对高铁车轮内部缺陷检测效率低、准确性差的问题,搭建一个六轴超声相控阵检测机械臂用于高铁车轮无损检测。对高铁车轮三维图进行点云提取和处理,保存为模板并提取目标扫描路径;然后利用Azure Kinect相机对高铁车轮进行了三维点云重建与模板点云匹配;最后在CoppeliaSim中建立检测机械臂的运动学模型,通过MATLAB和CoppeliaSim执行运动学仿真。结果表明:该运动学模型有效,各关节和末端执行器的控制效果良好,可以实现高铁车轮的自动化检测,并达到预期的轨迹,为检测机械臂控制问题的后续研究提供了实验基础和理论依据。

Aiming at the problems of low efficiency and poor accuracy in the internal defects detection of high-speed rail wheels, a six-axis ultrasonic phased array inspection robotic arm was built for non-destructive testing of high-speed rail wheels.The point cloud was extracted and processed for the 3 D map of the high-speed railway wheel, saved as a template and the target scan path was extracted.Then the Azure Kinect camera was used to reconstruct the 3 D point cloud of the high-speed rail wheel and match the template point cloud.Finally, the kinematics model of the inspection arm was established in CoppeliaSim and the kinematics simulation was performed through MATLAB and CoppeliaSim.The results show that the kinematics model is effective, the control effect of each joint and end effector is good, and it can realize the automatic detection of high-speed rail wheels and achieve the expected trajectory.It provides experimental basis and theoretical basis for the subsequent research on the control problems of the detection robotic arm.